TY - GEN
T1 - Development of a prototype of puncturing robot for CT-guided intervention
AU - Ishii, Hajime
AU - Kamegawa, Tetsushi
AU - Kitamura, Hiroki
AU - Matsuno, Takayuki
AU - Hiraki, Takao
AU - Gofuku, Akio
N1 - Funding Information:
This work was supported by MEXT KAKENHI Grant Number 13233919, and Research on Development of New Medical Devices 15652923 from Japan Agency for Medical Research and development, AMED
Publisher Copyright:
© 2016 IEEE.
PY - 2016/10/19
Y1 - 2016/10/19
N2 - Interventional radiology is a minimally invasive image-guided procedure. In the case of using computed tomography (CT) as an image-guidance for interventional radiology, the radiation exposure is a major problem to an operator who stands close to a CT gantry. To solve this problem, we are developing a remote-controlled puncturing robot which has five degrees of freedom. In this paper, we describe the details of the prototype robot and show experimental results to evaluate the robot's repeatability and a result of puncturing to a phantom.
AB - Interventional radiology is a minimally invasive image-guided procedure. In the case of using computed tomography (CT) as an image-guidance for interventional radiology, the radiation exposure is a major problem to an operator who stands close to a CT gantry. To solve this problem, we are developing a remote-controlled puncturing robot which has five degrees of freedom. In this paper, we describe the details of the prototype robot and show experimental results to evaluate the robot's repeatability and a result of puncturing to a phantom.
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U2 - 10.1109/ICIEA.2016.7603732
DO - 10.1109/ICIEA.2016.7603732
M3 - Conference contribution
AN - SCOPUS:84997498813
T3 - Proceedings of the 2016 IEEE 11th Conference on Industrial Electronics and Applications, ICIEA 2016
SP - 1020
EP - 1025
BT - Proceedings of the 2016 IEEE 11th Conference on Industrial Electronics and Applications, ICIEA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 11th IEEE Conference on Industrial Electronics and Applications, ICIEA 2016
Y2 - 5 June 2016 through 7 June 2016
ER -