To automatically bring a puncture needle to a target by simple operation.
The puncture support system 10 includes a puncture support robot 12 which moves the puncture needle N, based on an ultrasonic tomographic image acquired by an ultrasonic diagnosis device 11, to puncture the target T. The robot 12 includes a marker 24 and a three-dimensional movement measuring device 25 for detecting a position and attitude of a probe 15; a three-dimensional position detection unit 41 which determines a three-dimensional position of the target T set within an object tissue P by making an ultrasonic tomographic image obtained from the probe 15 correspond to the position and attitude of the probe 15 at that time; a puncture needle moving device 22 which moves the puncture needle N; and a movement control unit 42 which controls the movement of the puncture needle moving device 22, based on the three-dimensional position of the target T detected by the three-dimensional position detection unit 41, so that the puncture needle N reaches the target T.
| WO/2013/128921 | IMAGE-GENERATION DEVICE AND METHOD |
| JP3042343 | MOUNTING DEVICE FOR TUBULAR FLEXIBLE FILM |
KOBAYASHI HIROSHI
HAMANO RYUTARO
HASHIZUME MAKOTO
KO ARINARI
UNIV KYUSHU
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