Development of a Medical Tele-Analyzer for Abdominal … · Development of a Medical Tele-Analyzer...
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Development of a Medical Tele-Analyzerfor Abdominal Mass Analysis
Manukid Parnichkun Anan Suebsomran
Asian Institute of TechnologyThailand
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Introduction
• Among the six sensations, only visibility and audibility are transmittable.
• Transmission of tactile sensation is required.
• Tactile sensation consists of both force and displacement information.
• Medical tele-analyzer for abdominal mass analysis is developed.
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Medical Tele-Analyzer
• Used to diagnose abdominal mass– Hepatomegaly– Splenomegaly– Other tumors
• The system consists of 2 subsystems.– Doctor-Side Subsystem– Patient-Side Subsystem
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Block Diagram of the Medical Tele-Analyzer
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Doctor-Side Subsystem
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Doctor-Side Subsystem
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Doctor-Side Subsystem
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Patient-Side Subsystem
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Patient-Side Subsystem
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Patient-Side Subsystem
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Data Collection from Hospital
• Required resolution of displacement is 2mm.
• Required maximum displacement is 40 mm.• Required resolution of force is 20 g.• Required maximum force is 4725 g.
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Displacement/Force Sensors and Actuators
• Resistive potentiometer is applied to sense displacement.
• DC motor is applied as displacement actuator.
• Spring with resistive potentiometer is applied to sense force.
• DC motor is applied as force actuator.
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Disturbance Observer-Based Robust Motion Control
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Equivalent Block Diagram of Disturbance Observer-Based
Robust Motion Controller
dissnref TGJp 1−=−= ωω &&
gssGs +
=
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Displacement Controller
pd
cmdcmd
kskspsxxx
+++
−= 2
2
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Force Controller
)( 2 pxskxsMFF dcmd ++−=
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System Identification
Parameters Description Values UnitsNominal Inertia 0.000254 Kg.m2
Actual Inertia 0.0003 Kg.m2
Nominal Torque Constant 0.1656 N.m/AActual Torque Constant 0.2 N.m/A
C Damping Constant 0.002031 N.m.s/radBack EMF Constant 0.982 V.s/rad
R Armature Resistance 26.44 ΩL Armature Inductance 0.0138 H
System Mass 0.0003 Kg.m/radDamping Modulus 0 N.s/radSpring Constant 2.45 N/rad
nJJ
tnK
tK
eK
MD
sK
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Result of Displacement Control
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Displacement Command Disturbance Displacement Response
In the simulation, the gains kp and kd are fixed at 500 and 100 respectively. Cutoff frequency of the LPF, performed by g/(s+g), is set at 1000 rad/s. Mean of the gaussian random noise is assumed to 1 with variance of 0.25.
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Result of Force Control
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0 1 2 3 4 5 6 7 8 9 10-1
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Force Command Disturbance Force Response
In the simulation, the gain kd is fixed at 100. Cutoff frequency of the LPF, performed by g/(s+g), is set at 1000 rad/s. Mean of the gaussian random noise is assumed to 1 with variance of 0.25.
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Hybrid of Displacement and Force
0 1 2 3 4 5 6 7 8 9 10-2
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0 1 2 3 4 5 6 7 8 9 10-2
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Displacement Command Force Response
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Experiment I
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Experiment II
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Conclusion• A medical tele-analyzer for abdominal mass
analysis was developed.• Disturbance observer based robust motion control
was applied to control displacement and force of the system.
• The results shown that the controller worked well even with disturbance either by parameters uncertainty or external disturbance.
• From the experiments, the medical tele-analyzer could recognize different patterns of object.
• In the future work, x-y table will be installed and more experiment on different hardness objects will be done.
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Output (I)Graduated StudentsPh.D. Anan SuebsomranM.Eng. Veerapol Yimsinsomboon M.Eng. Hyunh Ngoc HuyDiploma Stefan Wortmann
Journal PaperAnan Suebsomran and Manukid Parnichkun. “Disturbance Observer-Based Hybrid Control of Displacement and Force in a Medical Tele-Analyzer,”International Journal of Control, Automation, and Systems. ICASE and KIEE. Vol. 3, No. 1, pp. 1-9 (2005)
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Output (II)Conference Papers1. Manukid Parnichkun, Anan Suebsomran, “Development of a Medical Tele-Analyzer for Abdominal Mass Analysis.” Proceedings of the 2003 IEEE International Conference on Industrial Electronics, IECON 2003, Roanoke, USA, 2003. (Conference CD-ROM)2. Anan Suebsomran, Manukid Parnichkun, “PID Based Control of Displacement and Force in a Medical Tele-Analyzer for Abdominal Mass Analysis.” Proceedings of the Third Asian Conference on Industrial Automation and Robotics, ACIAR 2003, Bangkok, 2003, pp. 77-81.3. Anan Suebsomran, Manukid Parnichkun, “Disturbance Observer-Based Hybrid Control of Displacement and Force in Medical Tele-Analyzer for Abdominal Mass Analysis.” Proceedings of the 2002 IEEE International Conference on Industrial Technology, ICIT’ 02, Bangkok, 2002, pp. 365-369.
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Output (III)Conference Papers4. Manukid Parnichkun, Watcharin Po-ngaen, and Thira Jearsiripongkul. “Development of a Force-Displacement Controlled Medical Tele-Analyzer.”Proceedings of the 2001 IEEE International Symposium on Industrial Electronics, ISIE 2001, Pusan, Korea, 2001, pp. 1978-1981. 5. Watcharin Po-ngaen, Thira Jearsiripongkul, and Manukid Parnichkun. “Development of Force-Displacement Hybrid Controlled System for Industrial Tele-Monitor and Control.” Proceedings of the 2000 International Conference on Production Research, ICPR 2000, Bangkok Thailand, 2000. (Conference CD-ROM)
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Acknowledgement
• This research is financially supported by National Electronics and Computer Technology Center (NECTEC), National Science and Technology Development Agency (NSTDA), Thailand.
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VDO