3P1-C03 ロボティックInterventional Radiology試作3号機の開発(医療ロボティクス・メカトロニクス(2)) [in Japanese] 3P1-C03 Development of the 3rd prototype of robotic interventional radiology(Medical Robotics and Mechatronics (2)) [in Japanese]
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Interventional Radiology (IVR) is a minimally invasive procedure that can be usually performed percutaneously. IVR has an advantage in that it is less invasive than conventional surgical intervention. On the other hand, IVR has a disadvantage in that operators are exposed to radiation during procedure when fluoroscopy or computed tomography (CT) is used as an image-guidance. To solve this problem, we are developing a remote controlled robot that handles a needle for CT-guided IVR. In this paper, our 3rd prototype IVR robotic system is reported. The 3rd prototype robot is consist of five degrees of freedom, three liner mechanism and two rotational mechanism. Especially, round guild rail is adopted for the 2nd degree of freedom. We also adopt parallel link mechanism for the hand part of the robot. The developed prototype was used in a real operation room with CT machine and achieve puncturing a phantom. The experimental result is also reported in this paper.
- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2014(0), _3P1-C03_1-_3P1-C03_4, 2014
The Japan Society of Mechanical Engineers