Abstract
A master-slave type remote ultrasound diagnostic system was developed. This paper presents its control strategy. The controller has an impedance control capability for the master and slave manipulators’ positions. It also has a 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 autonomously, and allows the medical doctor to feel reaction force. Manipulability varies according to the impedance parameters. This paper makes clear the relationship among the virtual viscosity, the manipulability and the response speed. The paper proposes a method to adjust the virtual viscosity according to diagnostic tasks. The proposed impedance control strategy applied for the remote ultrasound diagnostic system was evaluated in the experiment while virtual viscosity was changed. At the first step, a slider-type linear virtual viscosity input device was developed and it became clear that the medical doctor varies the virtual viscosity value by 3 levels according to diagnosis processes. Therefore, a 3-level virtual viscosity switching system was implemented. Remote ultrasound diagnostic experiment demonstrated that the medical doctor can perform diagnosis successfully using the proposed system.
Published Version
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