Installation angle offset compensation of puncture robot based on measurement of needle by CT equipment

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages451-457
Number of pages7
ISBN (Electronic)9781509067572
DOIs
Publication statusPublished - Aug 23 2017
Event14th IEEE International Conference on Mechatronics and Automation, ICMA 2017 - Takamatsu, Japan
Duration: Aug 6 2017Aug 9 2017

Other

Other14th IEEE International Conference on Mechatronics and Automation, ICMA 2017
CountryJapan
CityTakamatsu
Period8/6/178/9/17

Fingerprint

Computed Tomography
robots
needles
Needles
installing
Tomography
tomography
Robot
Robots
Angle
Radiology
radiology
surgery
Surgery
Target
hazards
derivation
cancer
Cancer
Radiation

Keywords

  • Interventional Radiology
  • Puncture Robot
  • Surgery Support Robot

ASJC Scopus subject areas

  • Control and Optimization
  • Instrumentation
  • Artificial Intelligence
  • Industrial and Manufacturing Engineering
  • Mechanical Engineering

Cite this

Nagao, A., Matsuno, T., Kimura, K., Kamegawa, T., Minami, M., & Hiraki, T. (2017). Installation angle offset compensation of puncture robot based on measurement of needle by CT equipment. In 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017 (pp. 451-457). [8015859] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMA.2017.8015859

Installation angle offset compensation of puncture robot based on measurement of needle by CT equipment. / Nagao, Akisato; Matsuno, Takayuki; Kimura, Kazusi; Kamegawa, Tetsushi; Minami, Mamoru; Hiraki, Takao.

2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 451-457 8015859.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Nagao, A, Matsuno, T, Kimura, K, Kamegawa, T, Minami, M & Hiraki, T 2017, Installation angle offset compensation of puncture robot based on measurement of needle by CT equipment. in 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017., 8015859, Institute of Electrical and Electronics Engineers Inc., pp. 451-457, 14th IEEE International Conference on Mechatronics and Automation, ICMA 2017, Takamatsu, Japan, 8/6/17. https://doi.org/10.1109/ICMA.2017.8015859
Nagao A, Matsuno T, Kimura K, Kamegawa T, Minami M, Hiraki T. Installation angle offset compensation of puncture robot based on measurement of needle by CT equipment. In 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 451-457. 8015859 https://doi.org/10.1109/ICMA.2017.8015859
Nagao, Akisato ; Matsuno, Takayuki ; Kimura, Kazusi ; Kamegawa, Tetsushi ; Minami, Mamoru ; Hiraki, Takao. / 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. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 451-457
@inproceedings{74771f3b270c4deb84439d7339f7a0e2,
title = "Installation angle offset compensation of puncture robot based on measurement of needle by CT equipment",
abstract = "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.",
keywords = "Interventional Radiology, Puncture Robot, Surgery Support Robot",
author = "Akisato Nagao and Takayuki Matsuno and Kazusi Kimura and Tetsushi Kamegawa and Mamoru Minami and Takao Hiraki",
year = "2017",
month = "8",
day = "23",
doi = "10.1109/ICMA.2017.8015859",
language = "English",
pages = "451--457",
booktitle = "2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - GEN

T1 - Installation angle offset compensation of puncture robot based on measurement of needle by CT equipment

AU - Nagao, Akisato

AU - Matsuno, Takayuki

AU - Kimura, Kazusi

AU - Kamegawa, Tetsushi

AU - Minami, Mamoru

AU - Hiraki, Takao

PY - 2017/8/23

Y1 - 2017/8/23

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 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.

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 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.

KW - Interventional Radiology

KW - Puncture Robot

KW - Surgery Support Robot

UR - http://www.scopus.com/inward/record.url?scp=85030309676&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85030309676&partnerID=8YFLogxK

U2 - 10.1109/ICMA.2017.8015859

DO - 10.1109/ICMA.2017.8015859

M3 - Conference contribution

AN - SCOPUS:85030309676

SP - 451

EP - 457

BT - 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017

PB - Institute of Electrical and Electronics Engineers Inc.

ER -