Construction Methodology for a Remote Ultrasound Diagnostic System
Construction Methodology for a Remote Ultrasound Diagnostic System
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DOI：
10.1109/tro.2009.2019785
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发表时间：
2009-06-01
影响因子：
7.8
通讯作者：
Mitsuishi, Mamoru
中科院分区：
文献类型：
--
作者：
Koizumi, Norihiro;Warisawa, Shin'ichi;Mitsuishi, Mamoru
在本文中，我们描述了一种方法，用于构建一个远程超声诊断系统。可以使用通信网络来实现远程诊断。我们开发了一个主从式远程医疗系统，通过超声图像诊断肩关节疾病，如透析相关淀粉样关节病（DRAA）。为了获取正确的诊断图像，需要在超声探头和患者的受影响区域之间进行正确的定位、定向和接触力。当通过通信网络操作远程医疗系统时，也需要安全性和可操纵性。因此，该系统具有阻抗控制能力的主和从机械手的定位，以传递接触力，提高可操作性。此外，该系统具有用于从机械手的方位的连续路径控制能力，以便即使主机械手的方位数据的传输的采样率不足，也实现超声探头的平滑和精确的运动。远程诊断实验的结果表明，医疗保健专业人员可以诊断真实的病人通过通信网络使用构建的系统。
In the present paper, we describe a method for constructing a remote ultrasound diagnostic system. Remote diagnosis can be realized using a communication network. We have developed a master-slave type remote medical system to diagnose shoulder diseases, such as dialysis-related amyloid arthropathy (DRAA), by ultrasonographic images. Proper positioning, orientation, and contact force between the ultrasound probe and the affected area of the patient are required in order to acquire proper diagnostic images. Safety and manipulability are also required when operating the remote medical system through a communication network. Therefore, the system has impedance control capability for positioning of the master and slave manipulators in order to convey the contact force and enhance manipulability. In addition, the system has continuous-path control capability for the orientation of the slave manipulator in order to realize smooth and accurate motion of the ultrasound probe, even if the sampling rate of the transmission of the orientation data of the master manipulator is not sufficient. The results of remote diagnostic experiments demonstrated that a healthcare professional could diagnose real patients through a communication network using the constructed system.