Development of a seat support mechanism for guiding users to an appropriate posture in a seated-style echocardiography robot

摘要

Abstract This paper proposes a seat support mechanism to solve the problem of misalignment between the chest examination and probe scanning areas when the patient is bent in a seated-style echocardiography robot. To guide the patient to an appropriate body position where their chest is within the examination range of the chest examination unit while minimizing the physical load of the patient, the posture of the patient must satisfy the three following conditions. (i) The breech must be in contact with the seat surface, (ii) the legs must be vertical to the floor, and (iii) the chest and mechanism must be parallel while the probe scanning and chest examination ranges must match. The human body was modeled to derive a posture that satisfies the aforementioned conditions for the height of each individual, and a seat support mechanism with four degrees of freedom was installed to guide the user to the derived posture. By installing this mechanism, the body load of the left biceps brachii, right biceps brachii, left latissimus dorsi, and right latissimus dorsi was reduced to 64.7%, 52.7%, 86.4%, and 80.2%, respectively. The sharpness of the image contours was improved to 103.8%.