Manipulator control system for remote USG examinantion

• Autorzy: Kurnicki Adam , Stańczyk Bartłomiej

Identyfikatory

DOI

10.14313/JAMRIS/2-2019/18

• Języki publikacji: EN

Abstrakty

EN

The article presents a control algorithm of a robotic manipulator used as the main component of a system for a remote noninvasive medical ultrasound examination. This algorithm has been developed within the ReMeDi (Remote Medical Diagnostician) project. At the beginning of the article, the manipulator kiinematics, its mechanical construction and the control system structure as a part of the telemanipulation system is shown. The essential components of the control system are discussed in detail. Then problems and solutions connected with the generation and conversion of the position and orientation of the reference signals are presented. Finally, the results of the evaluations with users are discussed.

Słowa kluczowe

EN

remote medical examination; telemedicine; medical robot; manipulator; control system

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2019
• Tom: Vol. 13, No. 2
• Strony: 48--59
• Opis fizyczny: Bibliogr. 31 poz., rys.

Twórcy

autor

Kurnicki Adam

• Automation and Metrology Department, Faculty of Electrical Engineering and Computer Science, Lublin University of Technology, ul. Nadbystrzycka 38a, 20-618 Lublin, Poland

autor

Stańczyk Bartłomiej

• ACCREA Engineering, ul. Hiacyntowa 20, 20-143 Lublin, Poland

Bibliografia

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Uwagi

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).