title: Development of CMTD (Curved Multi-Tubed Device) -system III and its application to the needle-insertion for liver.
abstract: The purpose of this study is to realize the mechanically-controllable needle-insertion system using the CMTD (Curved Multi-Tube Device) which was developed by Furusho Laboratory. A CMTD, was developed for minimally-invasive surgery and needle insertion. And we use ultrasonograph as a sensing device to detect the position of bible duct or tumor and the orientation and position of the needle which is inserted into liver. This system makes safe minimally-invasive surgery possible, because all complex mechanisms are arranged outside of the body.
authors.affiliation: Department of Mechanical Engineering, Graduate School of Engineering, Osaka University, Suita, Osaka, Japan. furusho@mech.eng.osaka-u.ac.jp
authors.forename: Junji
authors.initials: J
authors.lastname: Furusho
authors.forename: Hiroshi
authors.initials: H
authors.lastname: Kobayashi
authors.forename: Takehito
authors.initials: T
authors.lastname: Kikuchi
authors.forename: Tatsuro
authors.initials: T
authors.lastname: Yamamoto
authors.forename: Hidekazu
authors.initials: H
authors.lastname: Tanaka
authors.forename: Motokazu
authors.initials: M
authors.lastname: Terayama
authors.forename: Morito
authors.initials: M
authors.lastname: Monden
mesh_terms: D000818:Animals; D001652:Bile Ducts / Q000000981:diagnostic imaging / Q000601:surgery; D004322:Drainage / Q000295:instrumentation*; D004867:Equipment Design; D019544:Equipment Failure Analysis; D007091:Image Processing, Computer-Assisted; D007267:Injections / Q000295:instrumentation*; D008962:Models, Theoretical; D009339:Needles; D019047:Phantoms, Imaging; D011677:Punctures / Q000295:instrumentation*; D013552:Swine; D013813:Therapy, Computer-Assisted / Q000295:instrumentation*; D014463:Ultrasonography