抄録
We are developing a robotic needle insertion system for assist of central venous catheterization that relieves the difficulties of manual procedure and reduce the complications. In this paper, we propose a new design prototype manipulator which weight is reduced and which is integrated with a display of ultrasonography to progress in the operability of our robotic needle insertion system. The new version manipulator weighs lighter than 500[g] using a worm gear mechanism in exchange of a RCM mechanism, and the new version manipulator has a display of ultrasonography placed in the field of operator's view during manipulation of this system. Additionally, it was suggested that the new version manipulator kept the same positioning precision as the old version of manipulator by an evaluation experiment.
