1P1-I11 多重曲がり針デバイス(CMTD)を用いた追従型肝穿刺システムに関する基礎研究(手術支援ロボティクス・メカトロニクス)

概要

論文の詳細を見る
Until now, we have researched and developed the system of sampling the blood of fetus and the insertion system for solid organs like a liver, a brain ,and a breast which are both applied Curved Multi-Tube Device(CMTD). We can make the accuracy of insertion better by using CMTD. Before, we have reseached and developed the controls of CMTD mainly. In this research, we look at the bad side of the body motion attributable to breath and pain. Body motion leads to the bile duct move. In puncture of liver, bile duct is an insertion-target. It is a major contributor to unsuccessful management of puncture of liver. To deal with the problem, We added technology for target-tracking system with image processing using ultrasonnographic images and control technology to our needle-insertion system
一般社団法人日本機械学会の論文
2007-05-11