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Robot-assisted biopsy using computed tomography-guidance: initial results from in vitro tests
Joachim Kettenbach1, Gernot Kronreif, Michael Figl
1Department of Radiology, Medical University Vienna, General Hospital, Vienna, Vienna, Austria. joachim.kettenbach@meduniwien.ac.at
Investigative Radiology
|March 17, 2005
Summary
This study demonstrates that a robotic system for computed tomography (CT)-guided biopsy is feasible and accurate. The system successfully performed biopsies with high precision in phantom tests, paving the way for improved minimally invasive procedures.
Area of Science:
- Medical Robotics
- Image-Guided Interventions
- Biopsy Techniques
Background:
- Minimally invasive procedures are crucial in modern medicine.
- Computed tomography (CT) guidance enhances the precision of biopsies.
- Robotic assistance offers potential for improved accuracy and consistency in interventions.
Purpose of the Study:
- To develop and validate a robotic system for CT-guided biopsy.
- To assess the feasibility, accuracy, and efficacy of the robotic system in phantom tests.
Main Methods:
- A robotic system was developed for CT-guided biopsy.
- Peas embedded in a gel phantom served as targets.
- An optical tracking system and robotic arm with 7 degrees-of-freedom were used for precise needle insertion.
- Biopsies were performed manually after robotic arm positioning.
Main Results:
- Biopsy specimens were successfully harvested from all targets in a single needle pass.
- The mean deviation of the needle tip from the target center was minimal (1.2+/-0.9 mm in x-axis, 0.6+/-0.4 mm in z-axis).
- High accuracy was achieved in targeting and specimen retrieval.
Conclusions:
- Robotic-assisted CT-guided biopsy is a feasible technique.
- The developed system demonstrated high accuracy in in vitro phantom studies.
- This technology shows promise for enhancing the efficacy of minimally invasive biopsies.