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

机器人机械手人体精密针刺设备的研制及其在微小放射源照射装置中的应用

• 批准号: 10558135
• 负责人: MASAI Eiichi
• 金额: $ 5.06万
• 依托单位: Kobe University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B).
• 财政年份: 1998
• 资助国家: 日本
• 起止时间: 1998 至 2000
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-10558135/
• 关键词: low invasion operation; operation robot; three-dimensional display; helical scan computed tomograph; minute radiation source; PEI; radio scalpel; CT; CT内視鏡; ロボット; 3D

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.

1)研究概述。本研究的目的是研制一种能准确穿刺针在人体器官任意位置的仪器。通过刺入安装有微小放射源、射频手术刀等的针尖，或通过被刺入的管孔而不是针，将刀和吻合器引导到人体内部，实现最小的侵入性手术。2)本研究制作的结果。编制了机械手控制程序和导航程序。3)机械手控制程序机械手控制程序三菱重工公司生产的PA-10机械手进行实际穿刺术。该控制基于逆运动学，成为机械手控制方法的标准。为了安全起见，进行了控制，使得机械手的肘部可以始终成为物体的凸起部分。4)导航仪程序导航仪包括三维显示计算机断层图像的程序和操作员用来指示机械手穿透方向的人机界面程序。从螺旋扫描计算机断层成像设备输出的DICOM型图像数据中构建并显示3D图像。操作人员可以自由旋转和移动所显示的3D图像。通过选择CT值并执行过滤处理，可以选择性地仅显示目的器官。即使与整个程序分开，该程序作为计算断层图像的三维显示程序也足够有用。