Development of bed-type ultrasound diagnosis and therapeutic robot

摘要

This study developed a bed type ultrasound diagnostic and therapeutic robot that takes into consideration the contact stability with the human body to optimize the ultrasound diagnostic image. In this report, we firstly explain the overview of the newly developed bed type ultrasound diagnostic and therapeutic robot. Secondly, we report on experimental results evaluating the relationship between the ultrasound image and the contact force on the body surface using the ultrasound robot. Thirdly, we confirmed the effectiveness of the servoing motion of the phantom imitating the inside of the abdomen by utilizing a method called template matching.