[Percutaneous puncture with a robot].

Abstract

The great advances of microelectronics and mechatoronics are gradually being applied into medicine. In percutaneous nephrostomy, it is possible to calculate the depth and direction of the needle by using a computer if one point on the surface of the skin and another point in the dilated renal pelvis are determined. When a robot is moved according to the computed results, a percutaneous operation is performed fast and exactly. We established a system through which a percutaneous operation is automatically performed. The following technical difficulties of this system were overcome. The coordinates of the two points for a percutaneous operation were input into a computer through a CRT display. Machine language of the Z-80 CPU was used for the programming. A program package enabling fast calculation was developed. The shape of the robot was calculated and shown on the CRT display before it showed any movements.