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Interventional radiology (IR) is a minimally invasive medical procedure used for performing biopsy and needle ablation. Meanwhile, surgeons are exposed to high levels of radiation in their hands during IR procedures with current manual needle insertion under CT-guidance. In order to solve this problem, we had developed a remote-controlled IR assistance robot named Zerobot. When performing surgery using this robot, there is possibility that parts of the robot contact with surrounding devices or the patient. Therefore, there is an urgent need to build a system that predicts and warns of contact accurately and at high speed. In the previous research, triangle-based contact judgment was proposed. It was found that brute-force approach under the situation of large number of triangles requires long time to judge the contact state. Therefore, in order to shorten the calculation time, a simulator that picks up robot parts that have a possibility contact is proposed in this paper. It is confirmed that this approach is able to speed up the time to judge contact condition.

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Simulator for Identifying Contact-Prone Robot Parts to Accelerate Contact Judgment Between Needle Puncture Robot and Patient

  • 会议论文

  • 发表日期：

    2026年

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  • Takayuki Matsuno,
  • Nanako Sakai,
  • Yuichiro Toda,
  • Tetsushi Kamegawa,
  • Yusuke Matsui,
  • Takao Hirai

摘要

Interventional radiology (IR) is a minimally invasive medical procedure used for performing biopsy and needle ablation. Meanwhile, surgeons are exposed to high levels of radiation in their hands during IR procedures with current manual needle insertion under CT-guidance. In order to solve this problem, we had developed a remote-controlled IR assistance robot named Zerobot. When performing surgery using this robot, there is possibility that parts of the robot contact with surrounding devices or the patient. Therefore, there is an urgent need to build a system that predicts and warns of contact accurately and at high speed. In the previous research, triangle-based contact judgment was proposed. It was found that brute-force approach under the situation of large number of triangles requires long time to judge the contact state. Therefore, in order to shorten the calculation time, a simulator that picks up robot parts that have a possibility contact is proposed in this paper. It is confirmed that this approach is able to speed up the time to judge contact condition.