Design Improvements on a Carotid Blood Flow Measurement System

Carbone, Giuseppe; Nakadate, Ryu; Jorge, Solis; Ceccarelli, Marco; Takanishi, Atsuo; Minagawa, Eiichi; Sugawara, Motoaki; Niki, Kiyomi

doi:10.1007/978-3-642-01947-0_35

Cited by 3 publications

(8 citation statements)

References 8 publications

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“…The robotic carotid blood flow measurement system WTA-1R [10,11] which has been developed at Waseda University, consists of a commercial ultrasonic diagnostic system (SSD-610, ALOKA) and a hybrid robotic system as a probe-supporting device, as shown in Fig. 1.…”

Section: A Carotid Blood Flow Measurement Systemmentioning

confidence: 99%

“…In particular, it is composed of a Fig. 1 Carotid blood flow measurement system WTA-1R [10,11]: (a) the overall system; (b) a zoomed view of the wrist manipulator. Reprinted with kind permission of Springer Science and Business Media base plate, an end-plate (movable plate), six rigid links that are connected to the base plate, and a movable plate via two universal joints and a revolute joint.…”

Section: A Formulation For Workpace Analysismentioning

confidence: 99%

“…Therefore, a procedure for workspace analysis has been developed by referring to a built prototype named WTA-1R. The proposed procedure for workspace analysis has been enhanced with respect to reference [10] in order to better characterize the operation performance of the wrist of the WTA system by looking at the effect of design parameters mainly on workspace characteristics and dexterity. Then, mechanical design enhancements are proposed and validated to provide a suitable workspace performance both as reachable workspace and dexterity.…”

Section: Introductionmentioning

confidence: 99%

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Workspace Analysis and Design Improvement of a Carotid Flow Measurement System

Carbone

Nakadate

Jorge

et al. 2010

Proc Inst Mech Eng H

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Heart and cerebrovascular diseases such as arteriosclerosis and myocardial ischemia dysfunction are currently among the main causes of death in developed countries. Recently, wave intensity (WI), which is an index used to obtain the force of cardiac contraction, has been investigated as a method for early-stage diagnosis of the above-mentioned diseases. Nevertheless, experimental tests have proven that the manual measurements of WI by means of commercial ultrasonic diagnostic systems require too much time and can be affected by the operator's skills. For this purpose, the introduction of robotic-assisted technology has advantages in terms of repetitiveness and accuracy of the measurement procedure. Therefore, at Waseda University, the development of a carotid blood flow measurement system has been proposed to support doctors while using ultrasound diagnostic equipment to measure the WI. This robotic system is composed of a serial robot with a wrist having a six-degree-of-freedom (6-DOF) parallel mechanism. The main focus is to obtain a suitable workspace performance of the 6-DOF parallel mechanism wrist. In this paper, a workspace analysis is carried out on a wrist prototype built for the Waseda-Tokyo Women's Medical Aloka Blood Flow Measurement System No.1 Refined (WTA-1R). Then, mechanical design enhancements are proposed and validated to provide a suitable workspace performance both as reachable workspace and dexterity, and a refined prototype WTA-1RII has been built.

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Section: A Carotid Blood Flow Measurement Systemmentioning

confidence: 99%

Section: A Formulation For Workpace Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Workspace Analysis and Design Improvement of a Carotid Flow Measurement System

Carbone

Nakadate

Jorge

et al. 2010

Proc Inst Mech Eng H

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“…33 A hybrid parallel-serial manipulator, named the Cassino Hybrid Manipulator (CaHyMan), was analyzed in terms of stiffness characteristics as a specific example of general procedure for analyzing stiffness of parallel-serial manipulators. 35 The paper is organized as follows: Section 2 is dedicated to the presentation of PARASURG -a 5M hybrid parallel robot for MIS. 1 Refined (WTA-1R).…”

Section: Introductionmentioning

confidence: 99%

“…1 Refined (WTA-1R). 35 The paper is organized as follows: Section 2 is dedicated to the presentation of PARASURG -a 5M hybrid parallel robot for MIS. Section 3 deals with the kinematics of the studied structure.…”

Section: Introductionmentioning

confidence: 99%

Kinematic modelling of a 5-DOF hybrid parallel robot for laparoscopic surgery

et al. 2012

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Robotic-assisted surgery is a continuously developing field because robots have demonstrated clear benefits in operating rooms. Until now, vast majority of robots used in surgery had serial structures. This paper presents the kinematic modelling of a 5-degree of freedom hybrid parallel architecture in two slightly different variants. The kinematics of this structure is determined, and following the analysis of singularities, the best variant is chosen. The robot workspace is computed and finally the experimental model and some simulation results are presented.

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Kinematics of the Hybrid 6-Axis (H6A) manipulator

2023

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This paper presents a comprehensive study of the forward and inverse kinematics of a six-degrees-of-freedom (DoF) spatial manipulator with a novel architecture. Developed by Systemantics India Pvt. Ltd., Bangalore, and designated as the H6A (i.e., Hybrid 6-Axis), this manipulator consists of two arm-like branches, which are attached to a rigid waist at the proximal end and are coupled together via a wrist assembly at the other. Kinematics of the manipulator is challenging due to the presence of two multi-DoF passive joints: a spherical joint in the right arm and a universal in the left. The forward kinematic problem has eight solutions, which are derived analytically in the closed form. The inverse kinematic problem leads to $160$ solutions and involves the derivation of a $40$ -degree polynomial equation, whose coefficients are obtained as closed-form symbolic expressions of the pose parameters of the end-effector, thus ensuring the generality of the results over all possible inputs. Furthermore, the analyses performed lead naturally to the conditions for various singularities involved, including certain non-trivial architecture singularities. The results are illustrated via numerical examples which are validated extensively.

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Design Improvements on a Carotid Blood Flow Measurement System

Cited by 3 publications

References 8 publications

Workspace Analysis and Design Improvement of a Carotid Flow Measurement System

Workspace Analysis and Design Improvement of a Carotid Flow Measurement System

Kinematic modelling of a 5-DOF hybrid parallel robot for laparoscopic surgery

Kinematics of the Hybrid 6-Axis (H6A) manipulator

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