Development of a robot assisted carotid blood flow measurement system |
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Authors: | Ryu Nakadate Yoshiki MatsunagaJorge Solis Atsuo Takanishi Eiichi MinagawaMotoaki Sugawara Kiyomi Niki |
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Affiliation: | a Graduate School of Advanced Science and Engineering, Waseda University, 2-2 Wakamatsu-cho, Shinjuku-ku, Tokyo 162-8480, Japanb Faculty of Science and Engineering, Waseda University, 2-2 Wakamatsu-cho, Shinjuku-ku, Tokyo 162-8480, Japanc Humanoid Robotics Institute (HRI), Waseda University, 3-4-1 Ookubo, Shinjuku-ku, Tokyo, 169-8555, Japand Research Laboratory, ALOKA CO. LTD., Japane Department of Medical Engineering, Himeji Dokkyo University, Japanf Biomedical Engineering Department, Tokyo City University, Japan |
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Abstract: | The ultrasound diagnosis of the carotid artery is one of the most common non-invasive methods to detect early stage heart and cerebrovascular diseases. However, the precision and repetitiveness of the probe positioning depend exclusively on the operator's skills and dexterity. For this purpose, we propose the development of a robot assisted system to enhance the accuracy and repetitiveness of the probe positioning to measure the wave intensity (WI) index. In this paper, the Waseda-Tokyo Women's Medical-Aloka Blood Flow Measurement Robot System No. 2 Refined (WTA-2R) is presented. The WTA-2R consists of a conventional ultrasound diagnosis system, a 6-DOFs parallel link slave manipulator, a 6-DOFs serial link passive arm, and a master device. Experiments were carried out to verify its effectiveness in terms of accuracy and required time to perform the task. From the experimental results, the positioning accuracy and reduction of required time were confirmed. |
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Keywords: | Medical robotics Parallel mechanism Genetic Algorithm Wave intensity index |
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