TREATMENT DEVICE

To provide a technology to facilitate an appropriate robot operation according to a treatment scene.SOLUTION: A treatment head 3 includes a radiation part 31 and a diagnostic probe 32, and is provided at the tip of a robot arm 2 having six degrees of freedom. The radiation part 31 radiates a converg...

Full description

Saved in:
Bibliographic Details
Main Authors INADA MASAO, UEYAMA TAKESHI, OKUDA HIDEKI
Format Patent
LanguageEnglish
Japanese
Published 03.10.2019
Subjects
DIAGNOSIS
HUMAN NECESSITIES
HYGIENE
IDENTIFICATION
MEDICAL OR VETERINARY SCIENCE
SURGERY
Online AccessGet full text

Cover

More Information
Summary:To provide a technology to facilitate an appropriate robot operation according to a treatment scene.SOLUTION: A treatment head 3 includes a radiation part 31 and a diagnostic probe 32, and is provided at the tip of a robot arm 2 having six degrees of freedom. The radiation part 31 radiates a convergent ultrasonic wave. The diagnostic probe 32 is protrusively provided from the center of the radiation part 31 toward the radiation direction of the convergent ultrasonic wave, and transmits/receives an ultrasonic wave for diagnosis, which is different from the convergent ultrasonic wave. A probe drive part 34 changes a protrusion amount of the diagnostic probe 32 with respect to the radiation part 31. A control part 5 at least executes synchronization control to synchronize and drive the probe drive part 34 and the robot arm 2 while keeping the tip position of the diagnostic probe 32.SELECTED DRAWING: Figure 1 【課題】治療の場面に応じた的確なロボット操作を容易にする技術を提供する。【解決手段】治療ヘッド３は、照射部３１及び診断プローブ３２を有し、６自由度を有するロボットアーム２の先端に設けられる。照射部３１は、収束超音波を照射する。診断プローブ３２は、照射部３１の中心から収束超音波の照射方向に向けて突設され、収束超音波とは異なる診断用超音波を送受信する。プローブ駆動部３４は、照射部３１に対する診断プローブ３２の突出量を変化させる。制御部５は、診断プローブ３２の先端位置を保持したまま、プローブ駆動部３４とロボットアーム２とを同期させて駆動する同期制御を少なくとも実行する。【選択図】図１
Bibliography:Application Number: JP20180054209