Automatic Control Switching according to Diagnostic Tasks for a Remote Ultrasound Diagnostic System

摘要

A master-slave type remote ultrasound diagnostic system for "aging society" has been developed by the authors. The controller has a variable impedance control capability for the master and slave manipulators' positions. First, diagnostic tasks are classified in the remote ultrasound diagnosis. Then, a method to change virtual viscosity automatically according to diagnostic tasks are proposed in the paper. A remote ultrasound diagnostic experiment demonstrated that the medical doctor could perform diagnosis by switching controller automatically in accordance with the recognized diagnostic task.