Insertion method for minimizing fine needle deflection in bowel insertion based on experimental analysis

Ryosuke Tsumura*, Kai Shitashima, Hiroyasu Iwata

*この研究の対応する著者

研究成果: Conference contribution

5 被引用数 (Scopus)

抄録

Accurate insertion of fine needles is difficult due to needle deflection. Needle deflection in the lower abdomen is particularly complex, as the needle has to pass through various tissues. As the area of the bowel is dominant in lower abdominal insertion, it is important to analyze the deflection during bowel insertion and to control the needle to minimize deflection. Few studies have focused on bowel insertion. We performed a fundamental deflection analysis of needle insertion in the bowel. Moreover, we have proposed an insertion method for minimizing the needle deflection based on our analysis. First, we performed needle insertion at various insertion positions and insertion angles into the hollow-shaped bowel, and determined the trend of the needle deflection during bowel insertion. The results revealed that the needle deflection was increased due to an increase in insertion angle, and therefore insertion angle should be minimized as much as possible. However, during actual bowel needle insertion, there are many situations in which the ideal path cannot be selected due to the arrangement of the bowel loops. We proposed an insertion method that can eliminate the total needle deflections during bowel insertion by controlling the needle tip direction at the breaching of each bowel wall. The results suggest that the needle deflection can be minimized by selecting the insertion path in which the sum of each insertion angle is zero. We verified the results of this insertion method in multiple bowels in in vivo experiments, and showed that it has the potential to be used in clinical practice.

本文言語English
ホスト出版物のタイトルIROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
出版社Institute of Electrical and Electronics Engineers Inc.
ページ187-192
ページ数6
ISBN(電子版)9781538626825
DOI
出版ステータスPublished - 2017 12月 13
イベント2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada
継続期間: 2017 9月 242017 9月 28

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
2017-September
ISSN(印刷版)2153-0858
ISSN(電子版)2153-0866

Other

Other2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
国/地域Canada
CityVancouver
Period17/9/2417/9/28

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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