Development of CT-fluoroscopy-guided needle insertion robot: Free physicians from radiation

2015 Fiscal Year Final Research Report

• Project/Area Number: 25461882
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Radiation science
• Research Institution: Okayama University
• Principal Investigator: Hiraki Takao 岡山大学, 大学病院, 講師 (50423322)
• Co-Investigator(Kenkyū-buntansha): GOBARA Hideo 岡山大学, 大学病院, 准教授 (10379745) ; KANAZAWA Susumu 岡山大学, 大学院医歯薬学総合研究科, 教授 (20243511) ; MATSUNO Takayuki 岡山大学, 自然科学研究科, 講師 (50377842) ; FUJIWARA Hiroyasu 岡山大学, 大学病院, 助教 (70423324) ; KAMEGAWA Tetsushi 岡山大学, 自然科学研究科, 講師 (80432623)
• Project Period (FY): 2013-04-01 – 2016-03-31
• Keywords: ロボット / IVR / 針穿刺 / 被ばく

Outline of Final Research Achievements

In 2013, a prototype robot was developed and phantom studies were performed. Robot was remotely controlled with controller and a needle was successfully inserted into a target 2 cm in size without radation exposure to a physician. In 2014 and 2015, the prototype robot was improved. In 2014, backlash during motion was improved. More needle insertion strength and faster insertion speed were applied. Usability of interface was also improved, and presentation of force sense to a physician was acheived. In 2015, hand section of the robot was made smaller and lighter. Further, mechanism of needle attachment and removal was simplified.

Free Research Field

医療用ロボット、IVR