2017年8月23日
Installation angle offset compensation of puncture robot based on measurement of needle by CT equipment
2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
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- 開始ページ
- 451
- 終了ページ
- 457
- 記述言語
- 英語
- 掲載種別
- 研究論文(国際会議プロシーディングス)
- DOI
- 10.1109/ICMA.2017.8015859
- 出版者・発行元
- Institute of Electrical and Electronics Engineers Inc.
A medical procedure called Interventional Radiology(IR) is paid much attention in recent years. IR can be performed percutaneously while a doctor observes patient's fluoroscopic image. Therefore this surgical method is low-invasiveness method. In this surgery, computed tomography (CT) equipment is often used. But a doctor is exposed to strong radiation from CT. Thus, we have developed a remote-controlled surgery support robot called 'Zerobot'. Because Zerobot is placed front of CT equipment by human, an angle offset from installation target position occurs. If a doctor punctures without noticing that Zerobot has an installation angle offset, there is danger of hurting the part that should not be hurt around a target cancer. In order to solve this problem, we propose an angle offset compensation method and the installation angle offset derivation method using a CT equipment is proposed. Then, effectiveness of proposed method is confirmed through experiments.
- リンク情報
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- DOI
- https://doi.org/10.1109/ICMA.2017.8015859
- Web of Science
- https://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=JSTA_CEL&SrcApp=J_Gate_JST&DestLinkType=FullRecord&KeyUT=WOS:000426271700082&DestApp=WOS_CPL
- Scopus
- https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85030309676&origin=inward
- Scopus Citedby
- https://www.scopus.com/inward/citedby.uri?partnerID=HzOxMe3b&scp=85030309676&origin=inward
- ID情報
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- DOI : 10.1109/ICMA.2017.8015859
- SCOPUS ID : 85030309676
- Web of Science ID : WOS:000426271700082