JRM Vol.28 No.6 pp. 911-920
doi: 10.20965/jrm.2016.p0911


Needle Tip Position Accuracy Evaluation Experiment for Puncture Robot in Remote Center Control

Kohei Sugiyama*1, Takayuki Matsuno*1, Tetsushi Kamegawa*1, Takao Hiraki*2, Hirotaka Nakaya*1, Masayuki Nakamura*3, Akira Yanou*4, and Mamoru Minami*1

*1Graduate School of Natural Science and Technology, Okayama University
3-1-1 Tsushimanaka, Kita-ku, Okayama city, Okayama 700-8530, Japan

*2Department of Radiology, Okayama University Hospital
2-5-1 Shikata, Kita-ku, Okayama city, Okayama 700-8558, Japan

*3Department of Mechanical Systems Engineering, Okayama University
3-1-1 Tsushimanaka, Kita-ku, Okayama city, Okayama 700-8530, Japan

*4Department of Radiological Technology, Kawasaki College of Allied Health Professions
316 Matsushima, Kurashiki, Okayama 701-0194, Japan

January 25, 2016
October 10, 2016
December 20, 2016
surgical assistance robot, interventional radiology, puncture robot

Needle Tip Position Accuracy Evaluation Experiment for Puncture Robot in Remote Center Control

Location of devices in the experiment

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.

Cite this article as:
Kohei Sugiyama, Takayuki Matsuno, Tetsushi Kamegawa, Takao Hiraki, Hirotaka Nakaya, Masayuki Nakamura, Akira Yanou, and Mamoru Minami, “Needle Tip Position Accuracy Evaluation Experiment for Puncture Robot in Remote Center Control,” J. Robot. Mechatron., Vol.28, No.6, pp. 911-920, 2016.
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Last updated on Feb. 25, 2021