Development of vertical axis rotation mechanism of bed type ultrasonic robot and estimation method of posture of moving organ

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  • ベッド型超音波ロボットの鉛直軸回転動作機構開発および運動臓器の姿勢推定法

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<p>In this research, we developed a mechanism that has vertical axis rotation in the tip of a bed-type ultrasound robot that can follow three-dimensional movement of abdominal organs with higher accuracy, which is impossible with a conventional bed-type ultrasound robot. As a preparation stage for position and orientation tracking, a new method for estimating the organ angle from acquired ultrasound images alone is newly proposed. From the experimental results, an appropriate angle could be estimated from the acquired data. As future work, it is required to perform an experiment to follow the organ in the vertical axis rotation with the developed mechanism and the proposed algorithm.</p>

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