Dynamic Switching of a Controller Based on Diagnostic Tasks in Remote Ultrasound Diagnostics
Norihiro Koizumi, Shin’ichi Warisawa, Hiroyuki Hashizume,
and Mamoru Mitsuishi
Department of Engineering Synthesis, School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, JapanDepartment of Orthopaedic Surgery Graduate school of medicine and dentistry Okayama University, 2-5-1 Shikata-cho, Okayama 700-0914, Japan
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.
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