Abstract
We have been developing a prenatal care robot for supporting an ultrasonic diagnosis. In this paper, we intend to develop a core function for both obtaining clear images without lacks and ensuring a safety of pregnant women. In order to minimize the lack, the ultrasonic probe is operated for maintaining it perpendicular to the body surface. For safety, the number of actuators achieving those motions is minimized and most joints are moved passively. From results, it was confirmed that the ultrasonic probe follows the body surface smoothly and touches approximately vertically. We show the possibility of the proposed function for obtaining images with little lacks.
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