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Communications in Information and Systems
Volume 22 (2022)
Number 4
Special Issue Dedicated to Toshio Fukuda
Guest Editors: Stephen S.-T. Yau, Hisao Ishibuchi, and Naoyuki Kubota
Contact detection algorithm for needle puncturing robot
Pages: 477 – 497
DOI: https://dx.doi.org/10.4310/CIS.2022.v22.n4.a3
Authors
Abstract
There is a surgical method called Interventional Radiology (IR) in which needles and catheters are inserted into the body using image diagnostic techniques such as CT fluoroscopy and X‑ray fluoroscopy images to perform percutaneous treatment. IR has been applied to various treatments including lung cancer treatment, liver cancer treatment, and biopsy. Since it is less invasive than conventional surgery, it is possible to leave the hospital within 3 to 4 days after surgery. Therefore, IR surgery has been receiving increasing attention in recent years. Doctors are, however, exposed to strong radiation in the case of under CT guidance. In order to overcome this problem, we developed remote-controlled IR assistance robot named as Zerobot. And in order to make the operation succeed regardless of the difference of techniques of doctors, we have studied an automated puncture system with the robot. During the automated motion, the collision of the robot with CT gantry should be avoided. In this report, a method to detect contact between Zerobot and CT gantry is proposed.
Received 8 September 2020
Published 18 January 2023