Intermittent insertion control method with fine needle for adapting lung deformation due to breathing motion

Ryosuke Tsumura*, Kaoru Kakima, Hiroyasu Iwata

*この研究の対応する著者

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

Fine needle insertions into a lung are challenging in terms of the needle deflection due to the breathing motion. Although previous related works neglected the effect for the needle deflection due to the breathing motion by patients stopping the breath during the insertion, they have to suffer from the discomfort. This paper proposes the intermittent insertion control method to decrease needle deflection adapting the lung deformation due to the breathing motion. The novelty of this method is to allow for accurate needle insertion without stopping the breath, which will contribute to decreasing the discomfort and the amount of radiation exposure for patients. The intermittent insertion is to move forward the fine needle during a certain time frame that the needle deflection barely occurs since the lung is not deformed by the diaphragm motion. The feasibility of the proposed method was validated through a polyvinyl chloride (PVC) phantom and ex vivo experiments. The results showed that the deflection can be suppressed up to 1.3 mm and 3.9 mm in the PVC phantom and ex vivo experiments, respectively.

本文言語English
ホスト出版物のタイトル2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
出版社Institute of Electrical and Electronics Engineers Inc.
ページ3192-3199
ページ数8
ISBN(電子版)9781728162126
DOI
出版ステータスPublished - 2020 10月 24
イベント2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 - Las Vegas, United States
継続期間: 2020 10月 242021 1月 24

出版物シリーズ

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

Conference

Conference2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
国/地域United States
CityLas Vegas
Period20/10/2421/1/24

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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