Continuous path controller for the remote ultrasound diagnostic system

IEEE/ASME Transactions on Mechatronics

Volumn 13, Issue 2, 2008, Pages 206-218

  Koizumi, Norihiro ^a   Warisawa, Shin'ichi ^a   Hashizume, Hiroyuki ^b   Mitsuishi, Mamoru ^a  

^a UNIVERSITY OF TOKYO   (Japan)

^b Kasaoka Daiichi Hospital   (Japan)

Author keywords

Continuous path (CP) control; Impedance control; Master slave manipulation; Remote medical system; Remote ultrasound diagnostic system

Indexed keywords

DIAGNOSIS; MANIPULATORS; REMOTE CONTROL; TRACKING (POSITION); ULTRASONICS; VELOCITY CONTROL;

CONTINUOUS PATH CONTROL; IMPEDANCE CONTROL; MASTER-SLAVE MANIPULATION; POINT-TO-POINT CONTROL; REMOTE ULTRASOUND DIAGNOSTIC SYSTEM;

MOTION CONTROL;

EID: 43249130966     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2008.918530     Document Type: Article

References (42)

1. R. H. Taylor and D. Stoianovici, "Medical robotics in computer-integrated surgery," IEEE Trans. Robot. Automt., vol. 19, no. 5, pp. 765-781, Oct. 2003.
2. A. Healey, "Speculation on the neuropsychology of teleoperation: Implications for presence research and minimally invasive surgery," Presence: Teleoperators and Virtual Environments. New York: MIT Press, 2006.
3. M. Mitsuishi, S. Warisawa, T. Tsuda, T. Higuchi, N. Koizumi, H. Hashizume, and K. Fujiwara, "Remote ultrasound diagnostic system," in Proc. 2001 Int. Conf. Robot. Autom., vol. 2, pp. 1567-1573.
4. N. Koizumi, S. Warisawa, M. Mitsuishi, and H. Hashizume, "Impedance controller for a remote ultrasound diagnostic system," in Proc. 2002 Int. Conf. Robot. Autom., vol. 1, pp. 651-656.
5. N. Koizumi, S. Warisawa, H. Hashizume, and M. Mitsuishi, "Impedance controller and its clinical use of the remote ultrasound diagnostic system," in Proc. 2003 Int. Conf. Robot. Autom., vol. 1, pp. 676-683.
6. N. Koizumi, T. Kato, S. Warisawa, H. Hashizume, and M. Mitsuishi, "Manipulability enhancement by an impedance parameter tuning for a remote ultrasound diagnostic system," Experimental Robotics VIII. New York: Springer-Verlag, 2003, pp. 507-517.
7. W. Middleton, W. Reinus, W. Totty, C. Melson, and W. Murphy, "Ultrasonographic evaluation of the rotator cuff and biceps tendon," J. Bone Joint. Surg. Amer., vol. 68, pp. 440-450, 1986.
8. J. Read and M. Perko, "Shoulder ultrasound: Diagnostic accuracy for impingement syndrome, rotator cuff tear, and biceps tendon pathology," J. Shoulder Elbow Surg., vol. 7, pp. 264-271, 1998.
9. S. Masaoka, H. Hashizume, M. Senda, K. Nishida, M. Nagoshi, and H. Inoue, "Ultrasonographic analysis of shoulder rotator cuff tears," Acta Med. Okayama, vol. 53, pp. 81-89, 1999.
10. W.-H. Zhu, S. E Salcudean, S. Bachman, and P. Abolmaesumi, "Motion/ force/image control of a diagnostic ultrasound robot," in Proc. 2000 Int. Conf. Robot. Autom., vol. 2, pp. 1580-1585.
11. P. Abolmaesumi, S. E. Salcudean, W.-H Zhu, S. P. DiMaio, and M. R. Sirouspour, "A user interface for robot-assisted diagnostic ultrasound," in Proc. 2001 Int. Conf. Robot. Autom., 2008, vol. 2, pp. 1549-1554.
12. P. Abolmaesumi, S. E. Salcudean,W.-H. Zhu, S. P. DiMaio,M. R. Sirouspour, and S. P. DiMaio, "Image-guided control of a robot for medical ultrasound," IEEE Trans. Robot. Autom., vol. 18, no. 1, pp. 11-23, Feb. 2002.
13. S. Turgay, S. E. Salcudean, and R. N. Rohling, "Identifying themechanical properties of tissue by ultrasound strain imaging," Ultrasound Med. Biol., vol. 32, no. 2, pp. 221-235, 2006.
14. R. Zahiri and S. E. Salcudean, "Motion estimation in ultrasound images using time domain cross correlation with prior estimates," IEEE Trans. Biomed. Eng., vol. 53, no. 10, pp. 1990-2000, Oct. 2006.
15. A. Vilchis, J. Troccaz, P. Cinquin, and K. Masuda, "A new robot architecture for tele-echography," IEEE Trans. Robot. Autom., vol. 19, no. 5, pp. 922-926, Oct. 2003.
16. K. Masuda, E. Kimura, N. Tateishi, and K. Ishihara, "Three dimensional motion mechanism of ultrasound probe and its application for tele-echography system," in Proc. Int. Conf. IEEE Intell. Robots Syst., 2001, pp. 1112-1116.
17. K. Masuda and H. Kato, "Development of a twist pantograph mechanism for robotic tele-echography," in Proc. 3rd Eur. Med. Biol. Eng. Conf. 2005, no. 1847, pp. 1661-1664.
18. K. Ozawa, K. Ookomori, Y. Nomoto, and K. Masuda, "Development of a parallel wire drive system as a 3 dimensional control device in tele-echography," in Proc. World Cong. Med. Phys. Biomed. Eng., 2006, vol. 4413.
19. S. Aoyagi, K. Kuwahara, T. Jinno, and M. Takano, "Proposal of realizing method of STS control based on trajectory planning and trajectory update and experimental verification of its effectiveness by employing an open architecture robot," J. Robot. Soc. Jpn., vol. 19, no. 1, pp. 131-141, 2001.
20. S. E. Thompson and R. V. Patel, "Formulation of joint trajectories for industrial robots using b-splines," IEEE Trans. Ind. Electron., vol. 34, no. 2, pp. 192-199, May 1987.
21. A. Ude, C. G. Atkeson, and M. Riley, "Planning of joint trajectories for humanoid robots using b-spline wavelets," in Proc. 2001 Int. Conf. Robot. Autom., 2001, vol. 2, pp. 2223-2228.
22. C. Belta and V. Kumar, "An SVD-based projection method for interpolation on SE(3)," IEEE Trans. Robot. Automt., vol. 18, no. 3, pp. 334-345, Jun. 2002.
23. E. Rimon and D. E. Koditschek, "Exact robot navigation using artificial potential functions," IEEE Trans. Robot. Autom., vol. 8, no. 5, pp. 501-518, Oct. 1992.
24. Y. Mezouar and F. Chaumette, "Path planning for robust image-based control," IEEE Trans. Robot. Autom., vol. 18, no. 4, pp. 534-549, Aug. 2002.
25. K. Shoemake, "Animating rotation with quaternion curves," ACM SIGGRAPH, vol. 19, no. 3, pp. 245-254, 1985.
26. Q. J. Ge andB.Ravani, "Geometric construction of Beziermotion," ASME J. Mech. Des., vol. 116, no. 3, pp. 749-755, 1994.
27. F. C. Park and B. Ravani, "Bezier curves on Riemannian manifolds and Lie groups with kinematics applications," ASME J. Mech. Des., vol. 117, no. 1, pp. 36-40, 1995.
28. L. Srinivasan and Q. J. Ge, "Fine tuning of rational b-spline motions," ASME J. Mech. Des., vol. 120, no. 1, pp. 46-51, 1998.
29. B. Juttler and M. Wagner, "Computer aided design with rational b-spline motions," ASME J. Mech. Des., vol. 118, no. 2, pp. 193-201, 1996.
30. L. Noakes, G. Heinzinger, andB. Paden, "Cubic splines on curved spaces," IMA J. Math. Control Inf., vol. 6, pp. 465-473, 1989.
31. R. J. Anderson and M. W. Spong, "Bilateral control of teleoperators with time delay," IEEE Trans. Autom. Control., vol. 34, no. 5, pp. 494-501, May 1989.
32. G. M. H. Leung, B. A. Francis, and J. Apkarian, "Bilateral controller for teleoperators with time delay via μ-synthesis," IEEE Trans. Autom. Control, vol. 11, no. 1, pp. 105-116, Feb. 1995.
33. K. Kim, M. C. Cavusoglu, and W. K. Chung, "Quantitative comparison of bilateral teleoperation systems using μ-synthesis," IEEE Trans. Robot, vol. 23, no. 4, pp. 776-789, Aug. 2007.
34. N. Hogan, "Impedance control: An approach to manipulation: Part I - Theory, Part II - Implementation, Part III - Applications," ASME J. Dyn. Syst., Meas. Control, vol. 107, no. 1, pp. 1-24, 1985.
35. N. Hogan, "Stable execution of contact tasks using impedance control," in Proc. IEEE Int. Conf. Robot. Autom., 1987, pp. 1047-1054.
36. Richard JAdams and B. Hannaford, "Control law design for haptic interfaces to virtual reality," IEEE Trans. Control Syst. Technol. vol. 10, no. 1, pp. 3-13, Jan. 2002.
37. T. Tsuji and M. Kaneko, "Noncontact impedance control for redundant manipulators," IEEE Trans. Syst., Man, Cybern. A, Syst., Humans, vol. 29, no. 2, pp. 184-193, Mar. 1999.
38. M. Kawai and T. Yoshikawa, "Haptic display of movable virtual object with impedance device capable of continuous-time impedance display by analog circuit," in Proc. 2002 IEEE Int. Conf. Robot. Autom., vol. 1, pp. 229-234.
39. R. Kikuuwe, N. Takesue, A. Sano, H. Mochiyama, and H. Fujimoto, "Admittance and impedance representations of friction based on implicit euler integration," IEEE Trans. Robot. Autom., vol. 22, no. 6, pp. 1176-1188, Dec. 2006.
40. J. Kikuchi, K. Takeo, and K. Kosuge, "Teleoperation system via computer network for dynamic environment," in Proc. 1998 IEEE Int. Conf. Robot. Autom., vol. 4, pp. 3534-3539.
41. K. Kosuge, T. Itoh, and T. Fukuda, "Human-machine cooperative telemanipulation with motion and force scaling using task-oriented virtual tool dynamics," IEEE Trans. Robot. Autom., vol. 16, no. 5, pp. 505-516, Oct. 2000.
42. A. Sano, H. Fujimoto, and M. Tanaka, "Gain scheduled compensation for time delay of bilateral teleoperation systems," in Proc. 1998 IEEE Int. Conf. Robot. Autom., vol. 2, pp. 1916-1923.