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

Ryosuke Tsumura, Kai Shitashima, Hiroyasu Iwata

    研究成果: Conference contribution

    1 引用 (Scopus)

    抜粋

    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.

    元の言語English
    ホスト出版物のタイトルIROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
    出版者Institute of Electrical and Electronics Engineers Inc.
    ページ187-192
    ページ数6
    2017-September
    ISBN(電子版)9781538626825
    DOI
    出版物ステータスPublished - 2017 12 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 242017 9 28

    Other

    Other2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
    Canada
    Vancouver
    期間17/9/2417/9/28

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Computer Vision and Pattern Recognition
    • Computer Science Applications

    フィンガープリント Insertion method for minimizing fine needle deflection in bowel insertion based on experimental analysis' の研究トピックを掘り下げます。これらはともに一意のフィンガープリントを構成します。

  • これを引用

    Tsumura, R., Shitashima, K., & Iwata, H. (2017). Insertion method for minimizing fine needle deflection in bowel insertion based on experimental analysis. : IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems (巻 2017-September, pp. 187-192). [8202156] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2017.8202156