Measurement of Needle Trajectory Correction in Doctor’s Procedure for Automation of CT-guided Needle Insertion Robot

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  • Kamegawa Tetsushi
    Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University
  • Takayama Kazuma
    Graduate School of Natural Science and Technology, Okayama University
  • Matsuno Takayuki
    Graduate School of Natural Science and Technology, Okayama University
  • Hiraki Takao
    Department of Radiology, Okayama University Medical School
  • Sakurai Jun
    Center for Innovative Clinical Medicine, Okayama University Hospital
  • Komaki Toshiyuki
    Department of Radiology, Okayama University Medical School
  • Matsuura Ryutaro
    Graduate School of Health Sciences, Okayama University
  • Sasaki Takanori
    Graduate School of Medical, Dentistry and Pharmaceutical Sciences, Okayama University
  • Gofuku Akio
    Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University

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Other Title
  • CT透視ガイド下針穿刺ロボットの自動化のための医師の手技中における針の軌道修正の調査
  • 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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Abstract

<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>

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