Title :
Development of the needle-insertion system for path-error correction using a CMTD(Curved Multi-Tubed Device)
Author :
Furusho, Junji ; Kikuchi, Takehito ; Tanaka, Hidekazu ; Kobayashi, Hiroshi ; Yamamoto, Tatsuro ; Terayama, Motokazu ; Monden, Morito
Author_Institution :
Dept. of Mech. Eng., Osaka Univ., Suita
Abstract :
The purpose of this study is to realize the mechanically-controllable needle-insertion system using the CMTD (Curved Multi-Tube Device) which was developed by authors. A CMTD, which consists of a straight outer needle and a curved inner needle, was developed for minimally-invasive surgery and needle insertion. And we use ultrasound as a sensing device to detect the position of tumor and the orientation of the needle which is inserted into tumor. This system makes safe minimally-invasive surgery possible, because all complex mechanisms are arranged outside of the body.
Keywords :
error correction; medical control systems; needles; patient diagnosis; surgery; tumours; curved inner needle; curved multitubed device; mechanically-controllable needle-insertion system; minimally-invasive surgery; needle orientation; path-error correction; straight outer needle; tumor position detection; ultrasonic sensing device; Biopsy; Character recognition; Error correction; Liver; Needles; Neoplasms; Probes; Surgery; Target recognition; Ultrasonic imaging; Curved Multi-Tube Device; curved inner needle; needle insertionsystem; path-error correction; ultrasound image;
Conference_Titel :
Advanced Intelligent Mechatronics, 2008. AIM 2008. IEEE/ASME International Conference on
Conference_Location :
Xian
Print_ISBN :
978-1-4244-2494-8
Electronic_ISBN :
978-1-4244-2495-5
DOI :
10.1109/AIM.2008.4601787
