Reaction force analysis of puncture robot for CT-guided Interventional Radiology in animal experiment

Kohei Sugiyama; Takayuki Matsuno; Tetsushi Kamegawa; Takao Hiraki; Hirotaka Nakaya; Akira Yanou; Mamoru Minami

doi:10.1109/SII.2015.7404888

Reaction force analysis of puncture robot for CT-guided Interventional Radiology in animal experiment

Kohei Sugiyama, Takayuki Matsuno, Tetsushi Kamegawa, Takao Hiraki, Hirotaka Nakaya, Akira Yanou, Mamoru Minami

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

6 Citations (Scopus)

Abstract

A medical procedure called Interventional Radiology (IR) is paid much attention in recent years. IR can be performed percutaneously while a doctor observes patient's fluoroscopic image. It has advantage that invasiveness is low compared with conventional surgery. In order to take patient's fluoroscopic image, computed tomography (CT) equipment is often used. In this case, it is problem that the doctor is exposed to radiation because the doctor should conduct the procedure close to CT equipment. Thus, we have developed a robot called "Zerobot" which has six DOF and remote-control feature with dedicated input device. In this paper, first, overview of Robotic IR is described. Then, we describes about animal puncture experiment of Zerobot, and discuss the result of puncture reaction force analysis in the experiment.

Original language	English
Title of host publication	2015 IEEE/SICE International Symposium on System Integration, SII 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	7-12
Number of pages	6
ISBN (Electronic)	9781467372428
DOIs	https://doi.org/10.1109/SII.2015.7404888
Publication status	Published - Feb 10 2016
Event	8th Annual IEEE/SICE International Symposium on System Integration, SII 2015 - Nagoya, Japan Duration: Dec 11 2015 → Dec 13 2015

Publication series

Name	2015 IEEE/SICE International Symposium on System Integration, SII 2015

Other

Other	8th Annual IEEE/SICE International Symposium on System Integration, SII 2015
Country	Japan
City	Nagoya
Period	12/11/15 → 12/13/15

ASJC Scopus subject areas

Artificial Intelligence
Control and Systems Engineering

Access to Document

10.1109/SII.2015.7404888

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Cite this

Sugiyama, K., Matsuno, T., Kamegawa, T., Hiraki, T., Nakaya, H., Yanou, A., & Minami, M. (2016). Reaction force analysis of puncture robot for CT-guided Interventional Radiology in animal experiment. In 2015 IEEE/SICE International Symposium on System Integration, SII 2015 (pp. 7-12). [7404888] (2015 IEEE/SICE International Symposium on System Integration, SII 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2015.7404888

Reaction force analysis of puncture robot for CT-guided Interventional Radiology in animal experiment. / Sugiyama, Kohei; Matsuno, Takayuki ; Kamegawa, Tetsushi ; Hiraki, Takao; Nakaya, Hirotaka; Yanou, Akira; Minami, Mamoru.

2015 IEEE/SICE International Symposium on System Integration, SII 2015. Institute of Electrical and Electronics Engineers Inc., 2016. p. 7-12 7404888 (2015 IEEE/SICE International Symposium on System Integration, SII 2015).

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

Sugiyama, K, Matsuno, T , Kamegawa, T , Hiraki, T, Nakaya, H, Yanou, A & Minami, M 2016, Reaction force analysis of puncture robot for CT-guided Interventional Radiology in animal experiment. in 2015 IEEE/SICE International Symposium on System Integration, SII 2015., 7404888, 2015 IEEE/SICE International Symposium on System Integration, SII 2015, Institute of Electrical and Electronics Engineers Inc., pp. 7-12, 8th Annual IEEE/SICE International Symposium on System Integration, SII 2015, Nagoya, Japan, 12/11/15. https://doi.org/10.1109/SII.2015.7404888

Sugiyama K, Matsuno T , Kamegawa T , Hiraki T, Nakaya H, Yanou A et al. Reaction force analysis of puncture robot for CT-guided Interventional Radiology in animal experiment. In 2015 IEEE/SICE International Symposium on System Integration, SII 2015. Institute of Electrical and Electronics Engineers Inc. 2016. p. 7-12. 7404888. (2015 IEEE/SICE International Symposium on System Integration, SII 2015). https://doi.org/10.1109/SII.2015.7404888

Sugiyama, Kohei ; Matsuno, Takayuki ; Kamegawa, Tetsushi ; Hiraki, Takao ; Nakaya, Hirotaka ; Yanou, Akira ; Minami, Mamoru. / Reaction force analysis of puncture robot for CT-guided Interventional Radiology in animal experiment. 2015 IEEE/SICE International Symposium on System Integration, SII 2015. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 7-12 (2015 IEEE/SICE International Symposium on System Integration, SII 2015).

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