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 in 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 the installation angle offset derivation method using a CT equipment and an angle offset compensation method is proposed. Then, effectiveness of proposed method is confirmed through experiments.

Original languageEnglish
Pages (from-to)190-200
Number of pages11
JournalInternational Journal of Mechatronics and Automation
Issue number4
Publication statusPublished - 2018


  • Interventional radiology
  • Puncture robot
  • Surgery support robot

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computational Mechanics
  • Industrial and Manufacturing Engineering
  • Computational Mathematics
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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