| 摘要 |
PROBLEM TO BE SOLVED: To provide an ultrasonic probe moving holding device capable of suppressing the occurrence of the oscillation and vibration of a robot arm caused by an abrupt input signal inputting into a force detector when bringing an ultrasonic prove into contact with a body surface from outside of the body surface or when the ultrasonic prove collides with a hard object. SOLUTION: The ultrasonic probe moving holding device according to the present invention has the ultrasonic prove transmitting and receiving ultrasonic wave while coming into contact with the body surface, the robot arm equipped with a force detector detecting the force from outside, and a controller controlling the force for bringing the ultrasonic prove into contact with the body surface with constant force, includes an operation grip section arranged in the force detector, an elastic mechanism connecting the operation grip section and the ultrasonic probe, and a displacement detector detecting the displacement of the elastic mechanism, and changes the parameter of the force control of the controller by the displacement detector, and can suppress the occurrence of the oscillation and vibration of the robot arm by this constitution. COPYRIGHT: (C)2007,JPO&INPIT
|
