CT透視ガイド下針穿刺ロボットの自動ターゲティングの実現

抄録

There is a surgical method called CT-guided Interventional Radiology(IVR). We have been developing surgery support robot for CT-guided IVR. When this robot is used, there is a targeting phase in which the position of needle is navigated to the initial position before insertion. Currently targeting is done by doctor's manual operation. However, manual targeting is difficult. In order to solve this problem, we implemented a method of automatic targeting. However, due to assembling errors and mechanical stiffness, the accuracy of automatic targeting is not enough. In this paper, I calibrate kinematic parameters to improve accuracy of automatic targeting method. The accuracy after calibration is verified by experiment.