Human factors design for intuitive operation of a low-cost, image-guided, tele-robotic biopsy assistant

This paper details the design and interface development of Robopsy, an economical, tele-operated, patient mounted, disposable needle guidance and insertion system to assist radiologists in performing minimally invasive percutaneous biopsies remotely under CT guidance. Testing with a phantom in a realistic surgical setting was conducted to ensure that the interface was intuitive and facilitated smooth integration of the device into current procedure. Ease of learning and operation is critical in order to encourage rapid adoption of this new medical robotics model.