TY - GEN
T1 - Needle pose adjustment based on force information with needle puncturing robot
AU - Kimura, Kazushi
AU - Matsuno, Takayuki
AU - Sugiyama, Kohei
AU - Nagao, Akisato
AU - Kamegawa, Tetsushi
AU - Minami, Mamoru
AU - Hiraki, Takao
N1 - Funding Information:
ACKNOWLEDGMENT This work was supported by Research on Development of New Medical Devices 15652923 from Japan Agency for
Publisher Copyright:
© 2017 IEEE.
Copyright:
Copyright 2018 Elsevier B.V., All rights reserved.
PY - 2018/2/1
Y1 - 2018/2/1
N2 - In recent years, interventional radiology (IR) which is a medical procedure has been attracting considerable attention. Doctors can perform IR percutaneously while observing the fluoroscopic image, such as CT and MRI images, of patients. Therefore, this surgical method is less invasive. However, doctors are exposed to strong radiation in the case of CT-guidance. In order to overcome this problem, we have developed remote-controlled IR assistance robot. The phenomena that the needle tip deviates from target tissue at the end sometimes occur, even if the needle is aligned with target tissue before puncturing. In this research a method to adjust pose of a needle in lateral direction based on information of force sensor for reducing deflection of needle is proposed. First, deflection of needle was modeled as a simply cantilever beam. Next, pose of needle gripper of robot to reduce the force is calculated. Finally, validity of the proposed method was verified based on the result of phantom puncture experiment.
AB - In recent years, interventional radiology (IR) which is a medical procedure has been attracting considerable attention. Doctors can perform IR percutaneously while observing the fluoroscopic image, such as CT and MRI images, of patients. Therefore, this surgical method is less invasive. However, doctors are exposed to strong radiation in the case of CT-guidance. In order to overcome this problem, we have developed remote-controlled IR assistance robot. The phenomena that the needle tip deviates from target tissue at the end sometimes occur, even if the needle is aligned with target tissue before puncturing. In this research a method to adjust pose of a needle in lateral direction based on information of force sensor for reducing deflection of needle is proposed. First, deflection of needle was modeled as a simply cantilever beam. Next, pose of needle gripper of robot to reduce the force is calculated. Finally, validity of the proposed method was verified based on the result of phantom puncture experiment.
UR - http://www.scopus.com/inward/record.url?scp=85050860964&partnerID=8YFLogxK
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U2 - 10.1109/SII.2017.8279291
DO - 10.1109/SII.2017.8279291
M3 - Conference contribution
AN - SCOPUS:85050860964
T3 - SII 2017 - 2017 IEEE/SICE International Symposium on System Integration
SP - 626
EP - 631
BT - SII 2017 - 2017 IEEE/SICE International Symposium on System Integration
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE/SICE International Symposium on System Integration, SII 2017
Y2 - 11 December 2017 through 14 December 2017
ER -