Development of a Gripper with Variable Stiffness for a CT-Guided Needle Insertion Robot

In recent years, interventional radiology (IR) as a medical procedure has attracted considerable attention. Among the various IR techniques, computed tomography (CT)-guided IR is performed by inserting a specific needle into a lesion under CT guidance, leading to this medical procedure being less in...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Veröffentlicht in:Journal of robotics and mechatronics 2020-06, Vol.32 (3), p.692-700
Hauptverfasser: Yokouchi, Kento, Kamegawa, Tetsushi, Matsuno, Takayuki, Hiraki, Takao, Yamaguchi, Takuya, Gofuku, Akio
Format: Artikel
Sprache:eng
Schlagworte:
Online-Zugang:Volltext
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
Beschreibung
Zusammenfassung:In recent years, interventional radiology (IR) as a medical procedure has attracted considerable attention. Among the various IR techniques, computed tomography (CT)-guided IR is performed by inserting a specific needle into a lesion under CT guidance, leading to this medical procedure being less invasive. However, as the procedure requires the doctor to be positioned near the CT, radiation exposure may be a major concern. To overcome this problem, we developed a remote-controlled robotic system for needle insertion during CT-guided interventional procedures. The current needle holder for the robot is risky in that it might hurt a patient since a needle is always held firmly even when the patient moves. To solve this problem, we designed and fabricated a gripper with variable stiffness through jamming transition. Subsequently, we conducted experiments to investigate the effect of elements constituting the gripper to improve its performance.
ISSN:0915-3942
1883-8049
DOI:10.20965/jrm.2020.p0692