광간섭계 기반 미세 힘 센서 및 정밀 인젝션 시스템

Abstract

Interventional radiology is a medical field that specializes in minimally invasive procedures. Pain intervention procedure, one of the procedures in this field, is a pain treatment method that positions a guide needle in the epidural space and injects drugs. However, the damage cases of physicians due to radiation exposure from imaging devices have been reported. In this paper, we present a robot-assisted interventional procedure using an optical interferometer-based force measurement sensor and a precision injection system. The performance of the proposed system was examined with the custom phantom.