書誌事項
- タイトル別名
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- 1A1-F06 Improvement of Operability of IVR Robot by Inverse Kinematics
抄録
There is a surgical method called Interventional Radiology (IVR). We have been developing surgery support robot of IVR. IVR has the advantage that invasiveness is low, therefore the number of IVR surgery has been increasing in recent years. In lung cancer treatments, however, it has the problem that doctors are exposed to radiation because IVR is conducted in CT equipment. The purpose of this study is to avoid the problem by operating remote steerable IVR robot. IVR robot with 5 DOF have been developed in the prior study. Previously, each joint was controlled independently. Therefore, when the posture of needle is changed, the position also should be corrected manually. To improve operability of IVR robot, the forward kinematics and the inverse kinematics is solved. Finally, accuracy of needle tip position is evaluated.
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2015 (0), _1A1-F06_1-_1A1-F06_4, 2015
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390282680916913792
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- NII論文ID
- 110010052923
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- ISSN
- 24243124
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可