Development of a minimally invasive robotic interventional radiology for treatment of lung cancer-manufacture of a basic mechanism and verification experiment

Takuya Inoue, Takayuki Matsuno, Akira Yanou, Mamoru Minami, Takao Hiraki

Research output: Contribution to conferencePaper

2 Citations (Scopus)

Abstract

There are surgical methods called Interventional Radiology (IVR) using CT equipments in medical treatments of lung cancers, a blood vessels, and so on. IVR has an advantage that invasiveness is low and medical treatments with local anesthesia are possible as compare with the fact that laparotomy surgeries require general one. Therefore the number of IVR surgery has been increasing in recent years. However, radiation exposure to doctors has been concerned in the current IVR, since medical doctors conduct the treatment using CT equipment. Thus, the IVR robot should be developed in order to avoid the radioactive exposure to doctors. In this research, a robot using a parallel link mechanism is developed from the viewpoints that hand accuracy and hand rigidity are high and motors can be arranged far from CT scanning plane. The dual delta-type parallel link is proposed. It has the structure which is arranged the delta-type parallel link mechanism with three degrees of freedom (DOF). First, the arm which has offset of the axis in consideration of interference was designed. Secondly, inverse kinematics of parallel link was analyzed. Next, Delta-type parallel link mechanism with three DOF was manufactured. Finally, basic motion of parallel link robot was confirmed.

Original languageEnglish
Pages2646-2651
Number of pages6
Publication statusPublished - 2013
Event2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013 - Nagoya, Japan
Duration: Sep 14 2013Sep 17 2013

Other

Other2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013
CountryJapan
CityNagoya
Period9/14/139/17/13

Keywords

  • Interventional radiology
  • Less-invasive operation
  • Surgical assistant robot

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Inoue, T., Matsuno, T., Yanou, A., Minami, M., & Hiraki, T. (2013). Development of a minimally invasive robotic interventional radiology for treatment of lung cancer-manufacture of a basic mechanism and verification experiment. 2646-2651. Paper presented at 2013 52nd Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2013, Nagoya, Japan.