TY - JOUR
T1 - Installation angle offset compensation of puncture robot based on measurement of needle by CT equipment
AU - Nagao, Akisato
AU - Matsuno, Takayuki
AU - Kamegawa, Tetsushi
AU - Hiraki, Takao
N1 - Funding Information:
This work was supported by MEXT KAKENHI Grant Number 17K10439 and Research on Development of New Medical Devices 15652923 from Japan Agency for Medical Research and Development, AMED.
Publisher Copyright:
Copyright © 2018 Inderscience Enterprises Ltd.
PY - 2018
Y1 - 2018
N2 - 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.
AB - 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.
KW - Interventional radiology
KW - Puncture robot
KW - Surgery support robot
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U2 - 10.1504/IJMA.2018.095520
DO - 10.1504/IJMA.2018.095520
M3 - Article
AN - SCOPUS:85054966201
SN - 2045-1059
VL - 6
SP - 190
EP - 200
JO - International Journal of Mechatronics and Automation
JF - International Journal of Mechatronics and Automation
IS - 4
ER -
