Installation angle offset compensation of puncture robot based on measurement of needle by CT equipment Online publication date: Mon, 08-Oct-2018
by Akisato Nagao; Takayuki Matsuno; Tetsushi Kamegawa; Takao Hiraki
International Journal of Mechatronics and Automation (IJMA), Vol. 6, No. 4, 2018
Abstract: A medical procedure called interventional radiology (IR) is paid much attention in recent years. IR can be performed percutaneously while a doctor observes patient's fluoroscopic image. Therefore this surgical method is low-invasiveness method. In this surgery, computed tomography (CT) equipment is often used. But a doctor is exposed to strong radiation from CT. Thus, we have developed a remote-controlled surgery support robot called 'Zerobot'. Because Zerobot is placed in front of CT equipment by human, an angle offset from installation target position occurs. If a doctor punctures without noticing that Zerobot has an installation angle offset, there is danger of hurting the part that should not be hurt around a target cancer. In order to solve this problem, we propose the installation angle offset derivation method using a CT equipment and an angle offset compensation method is proposed. Then, effectiveness of proposed method is confirmed through experiments.
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