Norihiro Koizumi, Shin'ichi Warisawa, Hiroyuki Hashizume, and Mamoru Mitsuishi

Abstract:
The controller we developed for master-slave remote ultrasound diagnostics for an aging society has a variable impedance control capability for master/slave manipulator positions. Diagnostic tasks are classified in remote ultrasound diagnosis, then methods and devices are proposed to change virtual viscosity based on diagnostic tasks. Remote ultrasound diagnostic experiments demonstrated that health-care professionals could perform diagnosis efficiently using the proposed system.

Keywords: remote ultrasound diagnostic system, remote medical system, master slave manipulation, variable impedance control, dynamic switching capability of the controller