1P1-C13 Ultrasound-guided Needle Insertion Manipulator using Flexible Rack Drive

Abstract

This paper shows the development of ultrasound-guided needle insertion manipulator driven by flexible rack. The manipulator holds an ultrasound probe and unifying it. The manipulator has three degree of freedom and realizes the positioning on Ultrasound image. In this paper, we measure the positioning precision of developed manipulator. From these results, it is suggested that the manipulator realize precise positioning under 0.1mm. Then, the registration method is shown and the manipulator realizes precise positioning under 1mm on ultrasound image from registration experiment.