ID 56370
JaLCDOI
フルテキストURL
Thumnail 72_6_539.pdf 5.54 MB
著者
Hiraki, Takao Department of Radiology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
Kamegawa, Tetsushi Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University
Matsuno, Takayuki Graduate School of Natural Science and Technology, Okayama University
Komaki, Toshiyuki Department of Radiology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
Sakurai, Jun Center for Innovative Clinical Medicine, Okayama University Hospital
Kanazawa, Susumu Department of Radiology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
抄録
Since 2012, we have been developing a remote-controlled robotic system (Zerobot®) for needle insertion during computed tomography (CT)-guided interventional procedures, such as ablation, biopsy, and drainage. The system was designed via a collaboration between the medical and engineering departments at Okayama University, including various risk control features. It consists of a robot with 6 degrees of freedom that is manipulated using an operation interface to perform needle insertions under CT-guidance. The procedure includes robot positioning, needle targeting, and needle insertion. Phantom experiments have indicated that robotic insertion is equivalent in accuracy to manual insertion, without physician radiation exposure. Animal experiments have revealed that robotic insertion of biopsy introducer needles and various ablation needles is safe and accurate in vivo. The first in vivo human trial, therefore, began in April 2018. After its completion, a larger clinical study will be conducted for commercialization of the robot. This robotic procedure has many potential advantages over a manual procedure: 1) decreased physician fatigue; 2) stable and accurate needle posture without tremor; 3) procedure automation; 4) less experience required for proficiency in needle insertion skills; 5) decreased variance in technical skills among physicians; and 6) increased likelihood of performing the procedure at remote hospitals (i.e., telemedicine).
キーワード
robot
needle insertion
CT-guided interventional radiology
Amo Type
Review
発行日
2018-12
出版物タイトル
Acta Medica Okayama
72巻
6号
出版者
Okayama University Medical School
開始ページ
539
終了ページ
546
ISSN
0386-300X
NCID
AA00508441
資料タイプ
学術雑誌論文
言語
English
著作権者
CopyrightⒸ 2018 by Okayama University Medical School
論文のバージョン
publisher
査読
有り
PubMed ID
NAID
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