極細針を用いたロボット細胞診

―採取量増加のための穿刺制御戦略の提案―

抄録

Assistive technology using robots can realize high-precision fine needle aspiration cytology, and it may be possible to perform diagnosis even for deep lesions that were difficult to perform until now. In this paper, as a needle control method to improve the sample collection amount in fine needle aspiration cytology by a robot using a 25G extra fine needle, we proposed method that combined the reciprocating movement of the needle and changing the puncture route by utilizing the asymmetry of the puncture reaction forces due to the bevel shape of needle tip. As a result of the evaluation test, the suction sampling using the proposed method with a 25G extra fine needle obtained the same amount of sampling as the doctor’s procedure using a 22G needle, suggesting the effectiveness of the proposed method.