A contact state adjustment method to enhance organ motion compensation performance for a bed-type ultrasound diagnostic and therapeutic robot

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  • ベッド型超音波診断・治療ロボットを用いた臓器運動補償性能を強化するための接触状態調整手法

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<p>It is difficult to perform proper ultrasound diagnosis when the respiratory organs are moving, so it is necessary for the patient to stop breathing. However, stopping breathing puts a burden on the patient, so it is necessary to acquire a still image while breathing, that is, even when the organ is moving. We developed a bed-type ultrasound robot and used template matching for tracking and load cell for measuring the contact force. The subject of the tracking experiment was a phantom that imitated the abdominal organ, and the contact force was measured using the phantom. Tracking accuracy was higher at a bed speed of 1.4 cm/s on the back when the contact was sufficient on the abdomen. As for the contact force, a value of 3.0 to 4.9 N was measured on the back.</p>

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