Development of the needle insertion robot for Percutaneous Vertebroplasty

S. Onogi, K. Morimoto, I. Sakuma, Y. Nakajima, T. Koyama, N. Sugano, Y. Tamura, S. Yonenobu, Y. Momoi

研究成果: 著書/レポートタイプへの貢献会議での発言

11 引用 (Scopus)

抄録

Percutaneous Vertebroplasty (PVP) is an effective and less invasive medical treatment for vertebral osteoporotic compression fractures. However, this operative procedure is quite difficult because an arcus vertebra, which is narrow, is needled with accuracy, and an operator's hand is exposed to X-ray continuously. We have developed a needle insertion robot for Percutaneous Vertebroplasty. Its experimental evaluation on the basic performance of the system and needle insertion accuracy are presented. A needle insertion robot is developed for PVP. This robot can puncture with accuracy and an operator does not need to be exposed to X-ray. The mechanism of the robot is compact in size (350 mm × D 400 mm × H270 mm, weight: 15 kg) so that the robot system can be inserted in the space between C-arm and the patient on the operating table. The robot system is controlled by the surgical navigation system where the appropriate needle trajectory is planned based on pre-operative three-dimensional CT images. The needle holding part of the robot is X-ray lucent so that the needle insertion process can be monitored by fluoroscopy. The position of the needle during insertion process can be continuously monitored. In vitro evaluation of the system showed that average position and orientation errors were less than 1.0 mm and 1.0 degree respectively. Experimental results showed that the safety mechanism called mechanical fuse released the needle holding disk properly when excessive force was applied to the needle. These experimental results demonstrated that the developed system has the satisfactory basic performance as needle insertion robot for PVP.

元の言語英語
ホスト出版物のタイトルMedical Image Computing and Computer-Assisted Intervention - MICCAI 2005 - 8th International Conference, Proceedings
ページ105-113
ページ数9
DOI
出版物ステータス出版済み - 12 1 2005
イベント8th International Conference on Medical Image Computing and Computer-Assisted Intervention - MICCAI 2005 - Palm Springs, CA, 米国
継続期間: 10 26 200510 29 2005

出版物シリーズ

名前Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
3750 LNCS
ISSN(印刷物)0302-9743
ISSN(電子版)1611-3349

その他

その他8th International Conference on Medical Image Computing and Computer-Assisted Intervention - MICCAI 2005
米国
Palm Springs, CA
期間10/26/0510/29/05

Fingerprint

Needles
Insertion
Robot
Robots
X rays
CT Image
Navigation System
Experimental Results
Operator
Experimental Evaluation
Electric fuses
Table
Navigation systems
Compression
Safety
Trajectory
Three-dimensional
Trajectories
Evaluation
Mm

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • Computer Science(all)

これを引用

Onogi, S., Morimoto, K., Sakuma, I., Nakajima, Y., Koyama, T., Sugano, N., ... Momoi, Y. (2005). Development of the needle insertion robot for Percutaneous Vertebroplasty. : Medical Image Computing and Computer-Assisted Intervention - MICCAI 2005 - 8th International Conference, Proceedings (pp. 105-113). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); 巻数 3750 LNCS). https://doi.org/10.1007/11566489_14

Development of the needle insertion robot for Percutaneous Vertebroplasty. / Onogi, S.; Morimoto, K.; Sakuma, I.; Nakajima, Y.; Koyama, T.; Sugano, N.; Tamura, Y.; Yonenobu, S.; Momoi, Y.

Medical Image Computing and Computer-Assisted Intervention - MICCAI 2005 - 8th International Conference, Proceedings. 2005. p. 105-113 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); 巻 3750 LNCS).

研究成果: 著書/レポートタイプへの貢献会議での発言

Onogi, S, Morimoto, K, Sakuma, I, Nakajima, Y, Koyama, T, Sugano, N, Tamura, Y, Yonenobu, S & Momoi, Y 2005, Development of the needle insertion robot for Percutaneous Vertebroplasty. : Medical Image Computing and Computer-Assisted Intervention - MICCAI 2005 - 8th International Conference, Proceedings. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 巻. 3750 LNCS, pp. 105-113, 8th International Conference on Medical Image Computing and Computer-Assisted Intervention - MICCAI 2005, Palm Springs, CA, 米国, 10/26/05. https://doi.org/10.1007/11566489_14
Onogi S, Morimoto K, Sakuma I, Nakajima Y, Koyama T, Sugano N その他. Development of the needle insertion robot for Percutaneous Vertebroplasty. : Medical Image Computing and Computer-Assisted Intervention - MICCAI 2005 - 8th International Conference, Proceedings. 2005. p. 105-113. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). https://doi.org/10.1007/11566489_14
Onogi, S. ; Morimoto, K. ; Sakuma, I. ; Nakajima, Y. ; Koyama, T. ; Sugano, N. ; Tamura, Y. ; Yonenobu, S. ; Momoi, Y. / Development of the needle insertion robot for Percutaneous Vertebroplasty. Medical Image Computing and Computer-Assisted Intervention - MICCAI 2005 - 8th International Conference, Proceedings. 2005. pp. 105-113 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).
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