抄録
In a laparoscopic Radio Frequency Ablation, laparoscopic Ultrasound (LUS) probe is used for the needle insertion. In a former research, robot coordinate are decided from the stereo vision coordinate of laparoscope, and LUS picture is put on the coordinate. The insertion error of this method is about 3.0mm because of the error in fitting to a LUS picture. Author proposes a new method in which a LUS probe coordinate is expressed by the robot coordinate. Needle insertion method is described in the robot coordinate, and tested to confirm validity. As a result, needle insertion error of this method is about 0.4mm.
