2A1-C07 CMTD(曲がり多重チューブ)を用いた機械制御3次元生検装置に関する基礎研究(医療・福祉ロボティクス・メカトロニクス)

概要

論文の詳細を見る
The purpose of this study is to realize the mechanically-controllable needle-insertion system using the CMTD (Curved Multi-Tube Device) which was developed by authors. A CMTD, which consists of a straight outer needle and a curved inner needle, was developed for minimally-invasive surgery and needle insertion. And we use ultrasound as a sensing device to detect the position of tumor and the orientation of the needle which is inserted into tumor. This system makes safe minimally-invasive surgery possible, because all complex mechanisms are arranged outside of the body. In this paper, we focus on needle path correction in pig liver environment after the occurrence of an error.
一般社団法人日本機械学会の論文
2008-06-06