Improvement of Operability for IR Robot by Trajectory Generation Method Based on Remote Center

Abstract

Recently, surgical method using the image processing apparatus called Interventional Radiology(IR) is conducted well. IR surgery is a minimally invasive surgical method without an incision. Patients have less burden with IR surgery rather than that with conventional surgery. The surgical method of treating by puncturing the needle using computed tomograph(CT) apparatus requires the situation that the surgeon stands nearby the equipment. Therefore radiation exposure to doctor becomes a problem for doctors who engaged in IR surgery. Thus, we have developed a robot system which conducts IR surgery with remote operation. We report the function to change posture of a needle around tip of it, that is called remote center motion. In order to calculate desired trajectory of remote center motion, we derive Jacobian matrix between world coordinate system and tip of needle. Finally, effectiveness of proposed method is confirmed through experiment.