CTガイド下針穿刺ロボットの術前レジストレーション機能の実現

3次元画像による穿刺経路の確認

抄録

In recent years, interventional radiology (IR) which is a medical procedure has been attracting 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 under CT-guidance. In order to overcome this problem, we developed remote-controlled IR assistance robot. A registration function, which calculates offsets of coordinate systems, and a three dimensional display function, which helps us to confirm the path of needle and posture of a robot,are introduced.