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...
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| Veröffentlicht in: | Journal of robotics and mechatronics 2020-06, Vol.32 (3), p.692-700 |
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| container_title | Journal of robotics and mechatronics |
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| creator | Yokouchi, Kento Kamegawa, Tetsushi Matsuno, Takayuki Hiraki, Takao Yamaguchi, Takuya Gofuku, Akio |
| description | 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. |
| doi_str_mv | 10.20965/jrm.2020.p0692 |
| format | Article |
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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. 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| ispartof | Journal of robotics and mechatronics, 2020-06, Vol.32 (3), p.692-700 |
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| source | DOAJ Directory of Open Access Journals; Elektronische Zeitschriftenbibliothek - Frei zugängliche E-Journals; J-STAGE (Japan Science & Technology Information Aggregator, Electronic) Freely Available Titles - Japanese; Open Access Titles of Japan |
| subjects | Computed tomography Insertion Jamming Radiation effects Radiology Robots Stiffness |
| title | Development of a Gripper with Variable Stiffness for a CT-Guided Needle Insertion Robot |
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