書誌事項
- タイトル別名
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- Measurement of Needle Trajectory Correction in Doctor’s Procedure for Automation of CT-guided Needle Insertion Robot
- CT トウシ ガイド カシン センシ ロボット ノ ジドウカ ノ タメ ノ イシ ノ シュギ チュウ ニ オケル ハリ ノ キドウ シュウセイ ノ チョウサ
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抄録
<p>We are developing a CT-guided needle insertion robot for the purpose of reducing physician exposure dose. Automatic needle insertion will help a physician because it is a little difficult for unskilled operators to control the robot manually. In this paper, we propose a control law to realize full automatic needle insertion for a CT-guided needle insertion robot. In the control law, speed to insert a needle is given based on the result of our observation on the animal experiment. We found that the number of corrections increases as the needle approaches the target in a robotic needle insertion controlled by a physician. We propose the idea that needle insertion velocity decreases exponentially. The effectiveness of the control law is verified by a simulation experiment in which the needle start at having offset to the target trajectory. As a result, the robot in the simulation environment achieves to reach the target point by decreasing its puncture speed as the needle approaches the target.</p>
収録刊行物
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- 日本コンピュータ外科学会誌
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日本コンピュータ外科学会誌 22 (1), 14-20, 2020
一般社団法人 日本コンピュータ外科学会
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詳細情報 詳細情報について
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- CRID
- 1390283659849008128
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- NII論文ID
- 130007795280
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- NII書誌ID
- AN1044100X
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- ISSN
- 18845770
- 13449486
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- NDL書誌ID
- 030255752
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可