軸位置可変型連動ギア機構の開発

―3次元穿刺対応穿刺ロボットへの導入―

抄録

It is desirable to use a 25G needle in puncture surgery. However, it is very difficult and robotic interventions have been attempted. The current robot has an angle limitation for puncture with a 25G needle. This is because special control is needed to suppress the deflection of the 25G needle, which is prone to bending, and the actuator needed for the control must not be in the CT imaging range. In this paper, we have developed a new transmission mechanism necessary for the robot to perform puncture without angular constraint with a 25G needle. In addition, we developed a puncture robot with this mechanism and verified its performance.