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