Needle Tip Position Accuracy Evaluation Experiment for Puncture Robot in Remote Center Control
Needle Tip Position Accuracy Evaluation Experiment for Puncture Robot in Remote Center Control
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DOI：
10.20965/jrm.2016.p0911
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发表时间：
2016-12
期刊：
影响因子：
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通讯作者：
Kohei Sugiyama;T. Matsuno;T. Kamegawa;T. Hiraki;Hirotaka Nakaya;Masayuki Nakamura;A. Yanou;M. Minami
中科院分区：
文献类型：
--
作者：
Kohei Sugiyama;T. Matsuno;T. Kamegawa;T. Hiraki;Hirotaka Nakaya;Masayuki Nakamura;A. Yanou;M. Minami
In recent years, a medical procedure called interventional radiology (IR) has been attracting considerable attention. Doctors can perform IR percutaneously while observing the fluoroscopic image of patients. Therefore, this surgical method is less invasive. In this surgery, computed tomography (CT) equipment is often used for precise fluoroscopy. 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.
