Real-time Manipulation Technology Implementation for Teleoperation Control of Ultrasound System

What is our purpose?

Ultrasound diagnose unit is used widely in medical service, because of portability and reasonable price compared to MRI or CT. One of the important aspects in ulatrasound diagnose is that operator must apply appropriate pressure of probe on patient’s body for obtaining clear images. But treating a patient for long hours, watching computer image is inconvenient to the operator. And if the layer of fat is thick, the operator should apply more pressure to the probe. For these reasons, the operation using ultrasound diagnose can cause operator’s muscle and joint injury. Also, there are lack of operators in utmost area for ultrasound diagnoses. Therefore, the goal of this research is to develop teleoperated ultrasound diagnose system using robot manipulator for operators who can realistically and conveniently diagnose remotely.

Objective of our research

To achieve the goal, the following four technical aspects are investigated in this project.. “Hybrid force/position control for optimized ultrasound image.”, “Developing mapping methods: Telepresece of operator and intuitive interface.”, “Developing guide method for safety when operator teleoperate ultrasound robot.”, “Control algorithm for omnidirectional drive of mobile robot manipulator”. The summary of each part is below:

  • Hybrid force/position control for optimized ultrasound image.
    1. Developing torque based motion controller.
    2. Developing torque based force controller.
    3. Developing contact normal estimation algorithm.
    4. Developing control algorithm for certain position route.
    5. Developing position switch controller for polyphasic photograph.
  • Developing mapping method: Telepresece of operator and intuitive interface.
    1.     Study of orientation mapping methods between robot and interface.
  • Developing guid method for safety when operator teleoperate ultrasound robot
    1.     Developing algorithm for stable operation in robot teleoperation.

Result

  • Hybrid force/position control for optimized ultrasound image.

http://www.youtube.com/embed/vl3smVmfWPY

  • Developing mapping method: Telepresece of operator and intuitive interface.

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  • Developing guid method for safety when operator teleoperate ultrasound robot

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