폐 생검 시뮬레이션을 위한 1 자유도 햅틱장치의 설계

Abstract

Needle intervention is minimally invasive image guided procedures that diagnose and treat diseases using needle. In this procedures, needle tip is placed on some point on the skin and then inserted until it reaches to the target point inside of the body. The key point of this procedures is exact placement of needle tip at the target, not touching other organs, blood vessels, air way and nerves. But it is not that easy because of movements caused by breath of a patient and absence of direct visibility inside of the body. So needle intervention requires some training before performing actual procedures. One of training points is to be familiar with force feedback during needle insertion. Different force is fed back to a needle at different layer of body like skin, fat, muscle etc. By distinguishing this force, doctors can estimate current position of needle, and handle dangerous situations like puncture of blood vessels and air way. So 1 dof haptic interface is design to train this force sensation. An actual surgical needle is attached to the interface with force sensor, and 1 dof feedback force is provided to the needle.