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

Akisato Nagao; Takayuki Matsuno; Kazusi Kimura; Tetsushi Kamegawa; Mamoru Minami; Takao Hiraki

doi:10.1109/ICMA.2017.8015859

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

Akisato Nagao, Takayuki Matsuno, Kazusi Kimura, Tetsushi Kamegawa, Mamoru Minami, Takao Hiraki

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	451-457
Number of pages	7
ISBN (Electronic)	9781509067572
DOIs	https://doi.org/10.1109/ICMA.2017.8015859
Publication status	Published - Aug 23 2017
Event	14th IEEE International Conference on Mechatronics and Automation, ICMA 2017 - Takamatsu, Japan Duration: Aug 6 2017 → Aug 9 2017

Publication series

Name	2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017

Other

Other	14th IEEE International Conference on Mechatronics and Automation, ICMA 2017
Country	Japan
City	Takamatsu
Period	8/6/17 → 8/9/17

Keywords

Interventional Radiology
Puncture Robot
Surgery Support Robot

ASJC Scopus subject areas

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

Access to Document

10.1109/ICMA.2017.8015859

Fingerprint Dive into the research topics of 'Installation angle offset compensation of puncture robot based on measurement of needle by CT equipment'. Together they form a unique fingerprint.

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] (2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017). 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 (2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017).

Research output: Chapter in Book/Report/Conference proceeding › Conference 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, 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017, 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. (2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017). 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 (2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017).

@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 = aug,

day = "23",

doi = "10.1109/ICMA.2017.8015859",

language = "English",

series = "2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "451--457",

booktitle = "2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017",

note = "14th IEEE International Conference on Mechatronics and Automation, ICMA 2017 ; Conference date: 06-08-2017 Through 09-08-2017",

}

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

T3 - 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017

SP - 451

EP - 457

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

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 14th IEEE International Conference on Mechatronics and Automation, ICMA 2017

Y2 - 6 August 2017 through 9 August 2017

ER -