超音波自動診断ロボットのためのVisual SLAMを援用したプローブの運動軌道の模倣システムの開発

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  • Development of a system to imitation the motion trajectory of a probe using Visual SLAM for an automated ultrasound diagnostic robot

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<p>The purpose of this study is to estimate the motion trajectory of an ultrasound probe using Visual SLAM technology，and to reproduce a doctor's probe scanning using a bed-type robotic ultrasound diagnosis system (RUDS)． We investigated a method to mimic the motion trajectory of the RUDS probe by using SLAM technology．The proposed method was able to perform the imitation motion，but the error became larger as the distance from the origin increased．</p>

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