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 proceedingConference contribution

5 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 languageEnglish
Title of host publication2015 IEEE/SICE International Symposium on System Integration, SII 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages7-12
Number of pages6
ISBN (Print)9781467372428
DOIs
Publication statusPublished - Feb 10 2016
Event8th Annual IEEE/SICE International Symposium on System Integration, SII 2015 - Nagoya, Japan
Duration: Dec 11 2015Dec 13 2015

Other

Other8th Annual IEEE/SICE International Symposium on System Integration, SII 2015
CountryJapan
CityNagoya
Period12/11/1512/13/15

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

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    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] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2015.7404888