ヤノウ　アキラ   Akira Yanou   矢納　陽    所属   川崎医療福祉大学  医療技術学部 診療放射線技術学科    職種   教授
言語種別	英語
発表タイトル	Reaction Force Analysis of Puncture Robot for CT-guided Interventional Radiology in Animal Experiment
会議名	2015 IEEE/SICE International Symposium on System Intergaration (SII)
学会区分	国際学会及び海外の学会
発表形式	口頭
講演区分	一般
発表者・共同発表者	◎Kohei Sugiyama, Takayuki Matsuno, Tetsushi Kamegawa, Takao Hiraki, Hirotaka Nakaya, Akira Yanou and Mamoru Minami
発表年月日	2015/12
開催地 （都市, 国名）	Nagoya, Japan
概要	A medical procedure called Interventional Radiology (IR) is paid much attention in recent years. IR can be performed percutaneously while a doctor observes patient's fluoroscopic image. It has advantage that invasiveness is low compared with conventional surgery. In order to take patient's fluoroscopic image, computed tomography (CT) equipment is often used. In this case, it is problem that the doctor is exposed to radiation because the doctor should conduct the procedure close to CT equipment. Thus, we have developed a robot called "Zerobot" which has six DOF and remote-control feature with dedicated input device. In this paper, first, overview of Robotic IR is described. Then, we describes about animal puncture experiment of Zerobot, and discuss the result of puncture reaction force analysis in the experiment.