Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 10, 2017 - May 13, 2017
In recent years, interventional radiology (IR) which is a medical procedure has been attracting considerable attention. Doctors can perform IR percutaneously while observing the fluoroscopic image, such as CT and MRI images, of patients. Therefore, this surgical method is less invasive. However, doctors are exposed to strong radiation in the case of under CT-guidance. In order to overcome this problem, we developed remote-controlled IR assistance robot. The problem of the puncturing robot is inaccurate positioning of the tip of the needle, which causes the misdiagnosis and the complication, due to deflection of the needle and soft tissue. In this research, puncture method for minimizing the deflection force of the needle during puncture based on force sensor is proposed. First, the deflection of the needle was modeled as simply cantilever beam. Next, based on the deflection model, the target posture which minimizes the deflection force was derived. Finally, validity of the proposed method was verified based on the result of phantom puncture experiment.
