3P1-D03 極細針を用いたCTガイド下穿刺支援ロボットの開発 : 複合組織における針変形の抑制(医療ロボティクス・メカトロニクス(2)) 3P1-D03 Development of a CT-guided Needle Insertion Robot with Extra Fine Needle : Reducing of Needle Deflection on Complex Tissue(Medical Robotics and Mechatronics (2))
Recently, cancer vaccine therapy is expected to reject tumor, however, the procedure of the therapy is very difficult. So, CT-guided needle insertion robot with extra fine needle is required to perform them successfully. As key technologies of the robot, need to construct a needle insertion method for reduction of needle deflection on complex tissue. We newly report the method that reduces the deflection by combining a vibrating and rotating needle insertion. When we experiment to evaluate availability of the method with the use of a phantom like lower abdomen (skin, muscle, bowel), needle deflection can be greatly reduced.
ロボティクス・メカトロニクス講演会講演概要集 2014, "3P1-D03(1)"-"3P1-D03(2)", 2014-05-24