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

1)本研究的目的是研制一种能在人体器官的任意位置准确穿刺的设备。通过在针尖上安装有微小放射源、无线电手术刀等的针头刺入，或者通过将用于吻合的手术刀和装置通过代替针头刺入的管的孔引导到人体内部，2）根据本研究的结果，编制了机械手控制程序和导航程序机械手控制程序机械手PA-10（三菱重工制造）进行实际穿刺和操作。该控制基于逆运动学，该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，使得操纵器的肘部对于对象来说总是凸的。由此，肘部不会比尖端提前接近目标。4）导航器程序导航器包含三维显示计算机断层图像的程序和操作人员用于指示穿刺方向的操作器的人机接口程序。从螺旋扫描计算机断层摄影设备输出的DICOM类型的图像数据构建并显示3D图像。操作人员可以自由旋转和移动显示的3D图像。通过选择CT值并执行滤波处理，可以选择性地仅显示目的器官。即使与整个程序分离，该程序作为计算机断层摄影图像的三维显示程序也是足够有用的。

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.