2016年12月
Needle Tip Position Accuracy Evaluation Experiment for Puncture Robot in Remote Center Control
JOURNAL OF ROBOTICS AND MECHATRONICS
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- 巻
- 28
- 号
- 6
- 開始ページ
- 911
- 終了ページ
- 920
- 記述言語
- 英語
- 掲載種別
- 研究論文(学術雑誌)
- DOI
- 10.20965/jrm.2016.p0911
- 出版者・発行元
- FUJI TECHNOLOGY PRESS LTD
In recent years, a medical procedure called interventional radiology (IR) has been attracting considerable attention. Doctors can perform IR percutaneously while observing the fluoroscopic image of patients. Therefore, this surgical method is less invasive. In this surgery, computed tomography (CT) equipment is often used for precise fluoroscopy. However, doctors are exposed to strong radiation from the CT equipment. In order to overcome this problem, we have developed a remote-controlled surgical assistance robot called Zerobot. In animal puncture experiment, the operation of Zerobot was based on joint control. Therefore, during a surgery, the tip of the needle moves when a surgeon orders for a change in the direction of the needle. This makes the robot less user-friendly because the surgeon tracks the trajectory of the tip of the needle. This problem can be solved by using remote center control.
- リンク情報
- ID情報
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- DOI : 10.20965/jrm.2016.p0911
- ISSN : 0915-3942
- eISSN : 1883-8049
- Web of Science ID : WOS:000393457000015