2A1-K05 ロボティックInterventional Radiology の設計と試作(手術支援ロボティクス・メカトロニクス(1))

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  • 2A1-K05 Design and development of prototypes of robotic interventional radiology(Surgical Robotics and Mechatronics (1))

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Interventional Radiology (IVR) is a kind of surgical operation using real-time CT images and needles. IVR has an advantage that it is a lower invasive operation than a general surgical operation. On the other hand, IVR has a disadvantage that operators are exposed to radiation of X rays from a CT machine while they conduct the operation. To solve this problem, we propose developing a serial link robot as a remote controlled robot. In this paper, prototypes of robotic interventional radiology are described. First, specifications for the robotic IVR are described. Next, first version of prototype is designed and results of preliminary experiment for artifact are shown. In the second version, we have constructed a 3DOF mechanism and its driving system which is commanded by a joystick controller. Finally, experimental results of the developed prototype system are shown.

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