JRM Vol.32 No.3 pp. 692-700
doi: 10.20965/jrm.2020.p0692


Development of a Gripper with Variable Stiffness for a CT-Guided Needle Insertion Robot

Kento Yokouchi*1, Tetsushi Kamegawa*2, Takayuki Matsuno*3, Takao Hiraki*4, Takuya Yamaguchi*5, and Akio Gofuku*2

*1Rexxam Co., Ltd.
958 Ikeuchi, Konan-cho, Takamatsu-shi, Kagawa 761-1494, Japan

*2Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University
3-1-1 Tsushima-naka, Kita-ku, Okayama 700-8530, Japan

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

*4Department of Radiology, Medical School, Okayama University
2-5-1 Shikata-cho, Kita-ku, Okayama 700-8558, Japan

*5Division of Radiology, Department of Medical Technology, Okayama University Hospital
2-5-1 Shikata-cho, Kita-ku, Okayama 700-8558, Japan

October 29, 2018
March 1, 2020
June 20, 2020
medical robot, CT-guided interventional radiology, needle insertion, gripper with variable stiffness, jamming transition phenomenon
Development of a Gripper with Variable Stiffness for a CT-Guided Needle Insertion Robot

Prototype of the gripper with variable stiffness

In recent years, interventional radiology (IR) as a medical procedure has attracted considerable attention. Among the various IR techniques, computed tomography (CT)-guided IR is performed by inserting a specific needle into a lesion under CT guidance, leading to this medical procedure being less invasive. However, as the procedure requires the doctor to be positioned near the CT, radiation exposure may be a major concern. To overcome this problem, we developed a remote-controlled robotic system for needle insertion during CT-guided interventional procedures. The current needle holder for the robot is risky in that it might hurt a patient since a needle is always held firmly even when the patient moves. To solve this problem, we designed and fabricated a gripper with variable stiffness through jamming transition. Subsequently, we conducted experiments to investigate the effect of elements constituting the gripper to improve its performance.

Cite this article as:
Kento Yokouchi, Tetsushi Kamegawa, Takayuki Matsuno, Takao Hiraki, Takuya Yamaguchi, and Akio Gofuku, “Development of a Gripper with Variable Stiffness for a CT-Guided Needle Insertion Robot,” J. Robot. Mechatron., Vol.32, No.3, pp. 692-700, 2020.
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Last updated on Feb. 25, 2021