Impedance controller for a remote ultrasound diagnostic system
Impedance controller for a remote ultrasound diagnostic system
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用于远程超声诊断系统的阻抗控制器
DOI：
10.1109/robot.2002.1013432
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发表时间：
2002
期刊：
影响因子：
--
通讯作者：
H. Hashizume
中科院分区：
文献类型：
--
作者：
N. Koizumi;S. Warisawa;M. Mitsuishi;H. Hashizume
研制了主从式远程超声诊断系统。本文介绍了其控制器。控制器具有主、从机械臂位置阻抗控制能力。它还具有用于从机械手定向的连续路径（CP）控制能力。阻抗控制使得主从机械臂按照运动控制规律运动，并让医生感受到反馈力。可操作性根据阻抗参数而变化。本文明确了阻抗参数与可操作性和响应速度的关系，并提出了确定合适阻抗参数的方法。实验结果表明医生可以使用所提出的系统成功地进行诊断。
A master-slave type remote ultrasound diagnostic system was developed. This paper presents its controller. The controller has impedance control capability for the master and slave manipulators' positions. And it has also continuous path (CP) control capability for the slave manipulator's orientation. The impedance control allows the master and slave manipulators to move according to the motion control law, and allows the medical doctor to feel feedback force. Manipulability changes according to the impedance parameters. This paper makes clear the relationship of impedance parameters with manipulability and response speed, and proposes a method to determine appropriate impedance parameters. Experimental results demonstrate that the medical doctor can perform diagnosis successfully using the proposed system.