Related Experiment Video
Updated: Jun 2, 2026
09:13
Remote Magnetic Navigation for Accurate, Real-time Catheter Positioning and Ablation in Cardiac Electrophysiology Procedures
Published on: April 21, 2013
Development of a robotic FD-CT-guided navigation system for needle placement-preliminary accuracy tests
Saúl Tovar-Arriaga1, Ralf Tita, Jesús Carlos Pedraza-Ortega
1Institute of Medical Physics, University of Erlangen-Nuremberg, Erlangen, Germany. saulotov@yahoo.com.mx
Summary
This study introduces a robotic system for precise needle placement in medical procedures. Fast calibration and testing show high accuracy, making it valuable for interventions.
Area of Science:
- Robotics
- Medical Devices
- Interventional Radiology
Background:
- A novel robotic system utilizing a serial robot arm for precise manipulation of biopsy and/or treatment needles is presented.
- The system aims to enhance accuracy and efficiency in minimally invasive procedures.
Purpose of the Study:
- To introduce a robotic needle placement system.
- To present a method for rapid calibration of the robotic system.
- To conduct preliminary accuracy tests of the robotic system for medical applications.
Main Methods:
- The system integrates a DLR/KUKA Light Weight Robot III, designed for safe human-robot interaction, on a mobile platform.
- A robot-driven angiographic C-arm system and a navigation system are incorporated for guidance and control.
Main Results:
- Robot calibration with the navigation system achieved a residual error of 0.23 mm (rms) with a standard deviation of ± 0.1 mm.
- Needle targeting accuracy across various trajectories was measured at 1.2 mm (rms) with a standard deviation of ± 0.4 mm.
Conclusions:
- The robot's absolute positioning accuracy is limited by the navigation camera's precision.
- The developed control strategies show significant potential for improving interventional applications.
