TY - JOUR
T1 - Needle tip position accuracy evaluation experiment for puncture robot in remote center control
AU - Sugiyama, Kohei
AU - Matsuno, Takayuki
AU - Kamegawa, Tetsushi
AU - Hiraki, Takao
AU - Nakaya, Hirotaka
AU - Nakamura, Masayuki
AU - Yanou, Akira
AU - Minami, Mamoru
N1 - Funding Information:
This work was supported by MEXT KAKENHI Grant Number 13233919, Research on Development of New Medical Devices15652923 from Japan Agency for Medical Research and Development, AMED.
Publisher Copyright:
© 2016 Fuji Technology Press Ltd. All Rights Reserved.
PY - 2016/12
Y1 - 2016/12
N2 - 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.
AB - 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.
KW - Interventional radiology
KW - Puncture robot
KW - Surgical assistance robot
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U2 - 10.20965/jrm.2016.p0911
DO - 10.20965/jrm.2016.p0911
M3 - Article
AN - SCOPUS:85007324768
SN - 0915-3942
VL - 28
SP - 911
EP - 920
JO - Journal of Robotics and Mechatronics
JF - Journal of Robotics and Mechatronics
IS - 6
ER -