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Related Experiment Video

Updated: Aug 2, 2025

A Teleoperated Robotic System-Assisted Percutaneous Transiliac-Transsacral Screw Fixation Technique
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A semi-automated robotic system for percutaneous interventions.

Marius Siegfarth1, Raffael Lutz2, Nils-Christian Iseke2

  • 1Mannheim Institute for Intelligent Systems in Medicine, Heidelberg University, Mannheim, Germany. marius.siegfarth@medma.uni-heidelberg.de.

International Journal of Computer Assisted Radiology and Surgery
|April 14, 2023
PubMed
Summary

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HNO·2024

A new hybrid robotic system combines manual and robotic control for CT-guided needle interventions. Initial tests show feasibility, with future work aiming to improve accuracy through automated position correction.

Area of Science:

  • Medical Robotics
  • Surgical Navigation
  • Percutaneous Interventions

Background:

  • CT-guided percutaneous interventions are crucial for diagnostics and treatment.
  • Existing systems may face limitations in workspace or gantry compatibility.
  • Precise and efficient needle placement is essential for successful interventions.

Purpose of the Study:

  • To develop a hybrid robotic assistive device for needle-based percutaneous interventions.
  • To create a system with a large workspace that fits within a CT scanner gantry.
  • To enable precise and time-efficient CT-guided procedures through combined manual and robotic control.

Main Methods:

  • A semi-automated device integrating manual and robotic positioning units.
  • Eight degrees of freedom system (4 manual, 4 actuated) with encoders for position monitoring.
Keywords:
CT robotInterventional radiologyMedical roboticsPercutaneous intervention

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  • Open-source software (ROS2, Moveit2, 3D Slicer) for control and planning, coupled with optical needle tracking.

    • Main Results:

    • Successful communication and testing with a clinical CT scanner.
    • Initial needle insertion tests showed a mean deviation of 21.9 mm from the planned path.
    • The optical tracking system achieved a mean deviation of 3.9 mm in detecting needle position.

    Conclusions:

    • The developed hybrid robotic system concept (hardware and software) is feasible for CT-guided interventions.
    • The initial validation confirms the potential for improved precision and efficiency.
    • Future integration of automatic position correction is expected to significantly enhance system accuracy.