Continuous Path Controller for the Remote Ultrasound Diagnostic System
Continuous Path Controller for the Remote Ultrasound Diagnostic System
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DOI：
10.1109/tmech.2008.918530
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发表时间：
2008-04
期刊：
影响因子：
--
通讯作者：
N. Koizumi;S. Warisawa;H. Hashizume;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。阻抗控制器已被实施和报告的主和从操纵器的位置，以显示和控制超声探头和受影响的区域之间的接触力。本文介绍了一种在远程超声诊断系统中采用连续路径（CP）控制的替代定位控制器。本论文的主要贡献是介绍了速度控制为基础的CP控制器的主从式远程医疗系统，实现了从机械手的连续运动，而不降低主运动跟踪性能。在主站和从站之间以高采样率传送用于控制的信息是困难的，因为主站和从站之间的通信网络（局域网、综合业务数字网、非对称数字用户线等）是有限的。为了科普这个问题，CP控制器被引入到特殊的远程医疗系统中的定位控制器。CP控制在主机械手传输的姿态数据采样率有限的情况下，实现了从机械手的连续运动，提高了从机械手对主运动的跟踪性能。这允许提高从操纵器的安全性并减少传输数据的量。实验结果表明，与传统的点对点控制相比，在主从操作系统中，使用CP控制的从机械手的路径控制的准确性。
A master-slave type remote ultrasound diagnostic system has been developed. The impedance controller has been implemented and reported for the positions of the master and slave manipulators to display and control the contact force between the ultrasound probe and the affected area. The present paper introduces an alternative orientation controller utilizing continuous path (CP) control in the remote ultrasound diagnostic system. The major contribution of the present paper is an introduction to the velocity-control-based CP controller for the master-slave type remote medical system, which realizes the continuous motion of the slave manipulator without a reduction in the master motion tracking performance. It is difficult to communicate information for control at high sampling rates between the master and slave site because the communication network between the master and slave site (local area network, integrated services digital network, asymmetric digital subscriber line, etc.) is limited. To cope with this problem, the CP controller was introduced to the orientation controller in special remote medical systems. The CP control realizes the continuous motion of the slave manipulator under the limited sampling rate of the orientation data transmitted by the master manipulator and high master motion tracking performance of the slave manipulator. This allows the slave manipulator safety to be improved and decreases the volume of the transmitted data. The experimental results demonstrate the accuracy of the path control of the slave manipulator using the CP control in the master--slave manipulation system, compared with the conventional point-to-point control.