抄録
Percutaneous treatments are becoming a common minimally invasive treatment for cancer. Surgeons must introduce a needle into a cancerous area to perform a biopsy or kill the cancer, but this is a complex procedure that often misses the target. Novel robotic devices to assist in percutaneous treatments are being developed. Most systems use preoperative FEM simulation to calculate a needle trajectory that will hit the target, or US image needle guidance. However, neither of them are fully satisfactory. Ideally, real-time simulators should be used for intraoperative robot control, but, they lack accuracy. We propose a new method to provide information about the current situation during a needle insertion using needle insertion force pattern recognition. This information can be used as feedback for simulators or robot control in order to increase their accuracy.
本文言語 | English |
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ホスト出版物のタイトル | International Conference on Control, Automation and Systems |
ページ | 288-293 |
ページ数 | 6 |
DOI | |
出版ステータス | Published - 2013 |
イベント | 2013 13th International Conference on Control, Automation and Systems, ICCAS 2013 - Gwangju 継続期間: 2013 10月 20 → 2013 10月 23 |
Other
Other | 2013 13th International Conference on Control, Automation and Systems, ICCAS 2013 |
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City | Gwangju |
Period | 13/10/20 → 13/10/23 |
ASJC Scopus subject areas
- 人工知能
- コンピュータ サイエンスの応用
- 制御およびシステム工学
- 電子工学および電気工学