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 | |
| 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 |
Fingerprint
ASJC Scopus subject areas
- Modelling and Simulation
- Instrumentation
- Artificial Intelligence
- Computer Science Applications
- Engineering (miscellaneous)
- Materials Science (miscellaneous)
- Control and Optimization
Cite this
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
}
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
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
UR - http://www.scopus.com/inward/citedby.url?scp=85050860964&partnerID=8YFLogxK
U2 - 10.1109/SII.2017.8279291
DO - 10.1109/SII.2017.8279291
M3 - Conference contribution
AN - SCOPUS:85050860964
VL - 2018-January
SP - 626
EP - 631
BT - SII 2017 - 2017 IEEE/SICE International Symposium on System Integration
PB - Institute of Electrical and Electronics Engineers Inc.
ER -