A development of precise needling equipment for human body using a robot manipulator and its application to the irradiation apparatus with minute radiation source.

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1) The outline of this study.The purpose of this study is to develop the equipment which accurately punctures the needle at the optional position of the human organ. By stabbing the needle at the tip of which minute radiation source, radio scalpels and others are installed, or by guiding scaple and devices for anastomosis to the inside of human body through the bore of the pipe which is stabbed instead of the needle, the machine enables the smallest invasive operation.2) The result of making in this study.Manipulator control program and navigator program were made.3) Manipulator control programManipulator PA-10 (made by Mitsubishi Heavy Industries) carries out actual centesis and operation. The control was based on the inverse kinematics which became a standard of the control method of the manipulator. For the safety, the control was made so that the elbow part of the manipulator may become always a convex for the object. By this, the elbow does not approach the object in advance than the tip.4) Navigator programThe navigator contains the program which displays the computed tomograph image three-dimensional and the man-machine interface program which the operation person uses in order to instruct the manipulator on the centesis direction. 3D image is constructed and is displayed from image datum of DICOM type output from the helical scan computed tomograph equipment. Operation person can freely rotate and move the displayed 3D image. By choosing a CT value, and carrying out the filter processing, it is possible to selectively display only the organ of the purpose. Even if separated from the whole program, this program is sufficiently useful as three-dimensional display program of the computed tomograph image.