In recent years, a medical procedure called interventional radiology (IR) has been attracting considerable attention. Doctors can perform IR percutaneously while observing the fl roscopic image of patients. Therefore, this surgical method is less invasive. In this surgery, computed tomography (CT) equipment is often used for precise fl roscopy. However, doctors are exposed to strong radiation from the CT equipment. In order to overcome this problem, we have developed a remote-controlled surgical assistance robot called Zerobot. In animal puncture experiment, the operation of Zerobot was based on joint control. Therefore, during a surgery, the tip of the needle moves when a surgeon orders for a change in the direction of the needle. This makes the robot less user-friendly because the surgeon tracks the trajectory of the tip of the needle. This problem can be solved by using remote center control.

Original languageEnglish
Pages (from-to)911-920
Number of pages10
JournalJournal of Robotics and Mechatronics
Issue number6
Publication statusPublished - Dec 2016


  • Interventional radiology
  • Puncture robot
  • Surgical assistance robot

ASJC Scopus subject areas

  • Computer Science(all)
  • Electrical and Electronic Engineering


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