1A1-D04 CTガイド下における針穿刺ロボットの開発 : 針穿刺ロボットの針先位置決め精度の測定  [in Japanese] 1A1-D04 Development of a puncture robot for computed tomography-guided interventional radiology : Evaluation of positioning performance of a puncture robot  [in Japanese]

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Abstract

Interventional radiology is a minimally invasive image-guided procedure that can be performed percutaneously. When computed tomography (CT) is used as an image-guidance for interventional radiology, the radiation exposure is a major problem to an operator who stands close to a CT gantry. To solve this problem, we are developing a remote control needle puncture robot which has five degrees of freedom. However, evaluation of the positioning performance of the robot was not conducted. In this paper, evaluation criteria of positioning performance required for a needle puncture robot is determined, and the performance of the robot is evaluated.

Journal

  • The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2015(0), _1A1-D04_1-_1A1-D04_4, 2015

    The Japan Society of Mechanical Engineers

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