2A1-A36 経皮的椎体形成術用椎骨穿刺ロボットにおける穿刺精度評価

概要

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Percutaneous vertebroplasty (PVP) is an effective and less invasive medical treatment for vertebral osteoporotic compression fractures. However, PVP requires very qualified skill because the needle must be inserted the narrow arcus vertebra accurately and it is a problem that an operator's hand is exposed to X-ray continuously. To solve these problems, we have developed a needle insertion robot. In general, robots can puncture with accuracy and X-ray exposure of an operator's hand can be decreased. In this paper, we evaluated insertion accuracy of needle insertion robot, which has the safety mechanism. The maximum path error was more than 1.0mm and the maximum angle error was more than 2.5degree. These resultants are not suitable for PVP. As future work, we have to improve the method of needle insertion and the mechanism of needle holder.
一般社団法人日本機械学会の論文