協調動作による超音波診断支援のためのプローブ把持機構の検討

抄録

One of the medical issues of our country is increasing of the burden of doctors per capita by aging society and localization of the doctor. Development of diagnostic and treatment support systems is considered a solution to a pressing problem to help reduce loads on medical doctors. So, we have constructed echography diagnosis support system based on cooperative operation between examiner and robots. However, the ultrasonographer feels uncomfortable with the probe scanning. In this paper, we examined which gripping position of the probe does not cause the examiner to feel uncomfortable when the diagnosis is performed while the ultrasonographer and the robot cooperate. We measured and evaluated the free area of the probe surface when grasping with multiple probes.