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A patient-mounted robotic platform for CT-scan guided procedures.

Benjamin Maurin¹, Bernard Bayle, Olivier Piccin

¹Laboratoire des Sciences de l'Image, de l'Informatique et de la Télédétection (LSIIT), University of Strasbourg, National Center for Scientific Research (CNRS), and Department of Radiology B, University Hospitals of Strasbourg, France.

IEEE Transactions on Bio-Medical Engineering

|October 8, 2008

Summary

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A new patient-mounted robot assists medical procedures using computed tomography (CT) scans. This compact robot is designed for interventional radiology, enhancing precision during CT-guided interventions.

Area of Science:

Medical Robotics
Interventional Radiology
Medical Imaging

Background:

Interventional radiology procedures require precise instrument navigation.
Existing robotic systems may not be optimized for the constraints of CT-guided interventions.
There is a need for compact, patient-mounted robotic solutions for enhanced CT-guided procedures.

Purpose of the Study:

To introduce a novel, compact, and lightweight patient-mounted robotic assistant for medical interventions.
To design a robot specifically for the requirements of interventional radiology procedures under CT guidance.
To detail the robot's specifications, design, and technological choices.

Main Methods:

Development of an original 5 Degrees of Freedom (DOF) parallel robotic structure.

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Design of a semispherical workspace tailored for CT-scan interventional procedures.

Detailed documentation of robot specifications and compatible technological solutions.

Preclinical evaluation including robot registration within the CT-scan environment.

Main Results:

A novel patient-mounted robotic assistant for CT-guided interventions has been successfully designed and presented.
The robot features a compact and lightweight design with a 5 DOF parallel structure and a semispherical workspace.
Preclinical evaluation demonstrated successful registration of the robot within the CT-scan environment.

Conclusions:

The presented robotic assistant is well-suited for a wide range of interventional radiology procedures.
The robot's design addresses the specific needs and constraints of CT-guided medical interventions.
The successful preclinical evaluation indicates the potential of this robotic system for clinical application.