Impedance controller and its clinical use of the remote ultrasound diagnostic system
Impedance controller and its clinical use of the remote ultrasound diagnostic system
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远程超声诊断系统的阻抗控制器及其临床应用
DOI：
10.1109/robot.2003.1241672
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发表时间：
2003
期刊：
影响因子：
--
通讯作者：
M. Mitsuishi
中科院分区：
文献类型：
--
作者：
N. Koizumi;S. Warisawa;H. Hashizume;M. Mitsuishi
研制了一种主从式远程超声诊断系统。本文提出并评价了其控制策略。在传统的阻抗控制器中，只有一个位于主站或从站或中继点的阻抗控制器。因此，在传统系统中，时滞对力和位置数据传递的影响很大。然后我们提出了一个阻抗控制器来解决这个问题。在该系统中，采用基于速度控制的阻抗控制器构造了从机械臂的位置控制器。这一特点使得缩短从机械手响应接触力输入的死区时间成为可能。本文还报道了远程超声诊断系统的临床应用结果。实验结果表明，医生不仅可以进行常规诊断，还可以对病人进行诊断。
A master-slave type remote ultrasound diagnostic system was developed. This paper presents and evaluates its control strategy. There is only one impedance controller that is located in the master site or the slave site or the relay point in the conventional impedance controller. Therefore, the effect of the time lag in transmitting force and position data becomes large in the conventional system. Then we propose an impedance controller to cope with this problem. In the proposed system, the position controller for the slave manipulator is also constructed by means of a velocity-control-based impedance controller. This feature makes it possible to shorten the dead time taken by the slave manipulator to respond for the contact force input. This paper also reports the result of a clinical use of the remote ultrasound diagnostic system. The result of the experiments demonstrates that a medical doctor can diagnose patients as well as the conventional diagnosis.