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
N1 - Funding Information:
ACKNOWLEDGMENT 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:
© 2017 IEEE.
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 -
