Needle pose adjustment based on force information with needle puncturing robot

Kazushi Kimura; Takayuki Matsuno; Kohei Sugiyama; Akisato Nagao; Tetsushi Kamegawa; Mamoru Minami; Takao Hiraki

doi:10.1109/SII.2017.8279291

Needle pose adjustment based on force information with needle puncturing robot

Kazushi Kimura, Takayuki Matsuno, Kohei Sugiyama, Akisato Nagao, Tetsushi Kamegawa, Mamoru Minami, Takao Hiraki

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

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.

Original language	English
Title of host publication	SII 2017 - 2017 IEEE/SICE International Symposium on System Integration
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	626-631
Number of pages	6
Volume	2018-January
ISBN (Electronic)	9781538622636
DOIs	https://doi.org/10.1109/SII.2017.8279291
Publication status	Published - Feb 1 2018
Event	2017 IEEE/SICE International Symposium on System Integration, SII 2017 - Taipei, Taiwan, Province of China Duration: Dec 11 2017 → Dec 14 2017

Other

Other	2017 IEEE/SICE International Symposium on System Integration, SII 2017
Country	Taiwan, Province of China
City	Taipei
Period	12/11/17 → 12/14/17

ASJC Scopus subject areas

Modelling and Simulation
Instrumentation
Artificial Intelligence
Computer Science Applications
Engineering (miscellaneous)
Materials Science (miscellaneous)
Control and Optimization

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Kimura, K., Matsuno, T., Sugiyama, K., Nagao, A., Kamegawa, T., Minami, M., & Hiraki, T. (2018). Needle pose adjustment based on force information with needle puncturing robot. In SII 2017 - 2017 IEEE/SICE International Symposium on System Integration (Vol. 2018-January, pp. 626-631). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2017.8279291

Needle pose adjustment based on force information with needle puncturing robot. / Kimura, Kazushi; Matsuno, Takayuki; Sugiyama, Kohei; Nagao, Akisato; Kamegawa, Tetsushi ; Minami, Mamoru ; Hiraki, Takao.

SII 2017 - 2017 IEEE/SICE International Symposium on System Integration. Vol. 2018-January Institute of Electrical and Electronics Engineers Inc., 2018. p. 626-631.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kimura, K, Matsuno, T, Sugiyama, K, Nagao, A, Kamegawa, T , Minami, M & Hiraki, T 2018, Needle pose adjustment based on force information with needle puncturing robot. in SII 2017 - 2017 IEEE/SICE International Symposium on System Integration. vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 626-631, 2017 IEEE/SICE International Symposium on System Integration, SII 2017, Taipei, Taiwan, Province of China, 12/11/17. https://doi.org/10.1109/SII.2017.8279291

Kimura, Kazushi ; Matsuno, Takayuki ; Sugiyama, Kohei ; Nagao, Akisato ; Kamegawa, Tetsushi ; Minami, Mamoru ; Hiraki, Takao. / Needle pose adjustment based on force information with needle puncturing robot. SII 2017 - 2017 IEEE/SICE International Symposium on System Integration. Vol. 2018-January Institute of Electrical and Electronics Engineers Inc., 2018. pp. 626-631

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abstract = "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.",

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AU - Minami, Mamoru

AU - Hiraki, Takao

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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.

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