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Related Experiment Videos

System for robotically assisted percutaneous procedures with computed tomography guidance.

K Masamune1, G Fichtinger, A Patriciu

  • 1Graduate School of Engineering, The University of Tokyo, Japan. masa@b.dendai.ac.jp

Computer Aided Surgery : Official Journal of the International Society for Computer Aided Surgery
|April 16, 2002
PubMed
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This study introduces a novel robotic system for precise CT-guided percutaneous needle placement in soft tissues. The system achieves sub-millimeter accuracy, enhancing safety and consistency in medical interventions.

Area of Science:

  • Medical Robotics
  • Image-Guided Interventions
  • Surgical Navigation

Background:

  • Percutaneous needle placement is crucial for soft-tissue biopsies and interventions.
  • Existing methods can face challenges in accuracy and consistency.
  • Image guidance, particularly CT, offers precise visualization but requires robust targeting systems.

Purpose of the Study:

  • To develop and evaluate a prototype image-guided robotic system for accurate percutaneous needle insertion under CT guidance.
  • To assess the system's accuracy, consistency, and ease of use within the CT scanner environment.
  • To demonstrate the system's potential for various clinical percutaneous applications.

Main Methods:

  • A couch-mounted robotic system featuring a seven-degrees-of-freedom passive arm, a remote center-of-motion robot, and a motorized needle inserter was developed.

Related Experiment Videos

  • Stereotactic localization using a miniature BRW head frame enabled single-image-based coregistration of robot and image space.
  • Surgeon control was facilitated via a desktop computer receiving DICOM images, with no reliance on vendor-specific hardware or calibration.

    • Main Results:

    • In open-air tests, target accuracy better than 1 mm was achieved at distances of 5-8 cm from the fulcrum.
    • In phantom studies, orientation accuracy was 0.6 degrees.
    • The needle tip-to-target distance in phantom experiments was measured at 1.04 mm.

    Conclusions:

    • The developed image-guided robotic system demonstrates high accuracy and consistency for percutaneous needle placement.
    • The system's design, utilizing pure image-based registration and minimal calibration, makes it adaptable for diverse clinical scenarios.
    • This technology shows significant promise for improving the safety and efficacy of CT-guided percutaneous interventions.