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

Paper:

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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

Received:
October 29, 2018
Accepted:
March 1, 2020
Published:
June 20, 2020
Creative Commons License
Keywords:
medical robot, CT-guided interventional radiology, needle insertion, gripper with variable stiffness, jamming transition phenomenon
Abstract

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.

Prototype of the gripper with variable stiffness

Prototype of the gripper with variable stiffness

Cite this article as:
K. Yokouchi, T. Kamegawa, T. Matsuno, T. Hiraki, T. Yamaguchi, and A. 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 Apr. 22, 2024