Title: Installation angle offset compensation of puncture robot based on measurement of needle by CT equipment
Authors: Akisato Nagao; Takayuki Matsuno; Tetsushi Kamegawa; Takao Hiraki
Addresses: OKK Corporation, Hyogo, 664-0831, Japan ' Graduate School of Natural Science and Technology, Okayama University, Okayama, 700-8530, Japan ' Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University, Okayama, 700-8530, Japan ' Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University, Okayama, 700-8558, Japan
Abstract: A medical procedure called interventional radiology (IR) is paid much attention in recent years. IR can be performed percutaneously while a doctor observes patient's fluoroscopic image. Therefore this surgical method is low-invasiveness method. In this surgery, computed tomography (CT) equipment is often used. But a doctor is exposed to strong radiation from CT. Thus, we have developed a remote-controlled surgery support robot called 'Zerobot'. Because Zerobot is placed in front of CT equipment by human, an angle offset from installation target position occurs. If a doctor punctures without noticing that Zerobot has an installation angle offset, there is danger of hurting the part that should not be hurt around a target cancer. In order to solve this problem, we propose the installation angle offset derivation method using a CT equipment and an angle offset compensation method is proposed. Then, effectiveness of proposed method is confirmed through experiments.
Keywords: surgery support robot; interventional radiology; puncture robot.
International Journal of Mechatronics and Automation, 2018 Vol.6 No.4, pp.190 - 200
Received: 02 Sep 2017
Accepted: 07 May 2018
Published online: 03 Oct 2018 *