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

T. Matsuno (Graduate School of Natural Science and Technology, Okayama University, Okayama City, Okayama, Japan)

N. Kido (Graduate School of Natural Science and Technology, Okayama University, Okayama City, Okayama, Japan)

T. Kamegawa (Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University, Okayama City, Okayama, Japan)

T. Hiraki (Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University, Okayama City, Okayama, Japan)

T. Fukuda (Graduate School of Science and Technology, Meijo University, Nagoya, Aichi, Japan)

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.

Full Text (PDF format)

Received 8 September 2020

Published 18 January 2023