超音波診断支援ロボットによる協調診断のための可操作度に基づく運動学解析

抄録

Echography has the advantage of minimally invasive, and compactness. However, echography is demanding on the examiner and requires specialized knowledge and experience. To solve this problem, many studies have been reported. We have been developing an Echography-Assist Robots, EARs, the reproduces the probe scanning of a skilled examiner and performs cooperative diagnosis between a human and robot. Input the position and posture data of the probe trajectory acquired by the mo-cap system. However, it was impossible to reproduce the procedure. EARs behave unstable near the singularity depending on the joint angle of the robot, or suddenly stops. In this study is to investigate the safe range of motion of the robot arm. In this paper, we report an experiment on the stable range of motion of EARs by calculating the manipulability using the joint angles of the arm and the Jacobi matrix when tracing the human abdomen with a probe.