Title :
Development of the needle-insertion system for path-error correction in liver environment using a CMTD(Curved Multi-Tubed Device)
Author :
Furusho, Junji ; Kikuchi, Takehito ; Yamamoto, Tatsuro ; Tanaka, Hidekazu ; Kobayashi, Hiroshi ; 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 :
mechanical variables control; medical control systems; surgery; tumours; ultrasonic imaging; curved multi-tubed device; liver environment; minimally-invasive surgery; needle aspiration biopsy; needle-insertion system; path-error correction; Automatic control; Biopsy; Educational institutions; Error correction; Liver; Needles; Neoplasms; Skin; Surgery; Ultrasonic imaging; Curved Multi-Tube Device; curved inner needle; needle insertion-system; path-error correction; ultrasound image;
Conference_Titel :
Mechatronics and Automation, 2008. ICMA 2008. IEEE International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
978-1-4244-2631-7
Electronic_ISBN :
978-1-4244-2632-4
DOI :
10.1109/ICMA.2008.4798768
