Robot-Assisted 2D Fluoroscopic Needle Placement-A Phantom Study

Area of Science:

• Medical Robotics
• Image-Guided Interventions
• Surgical Navigation

Background:

• Accurate needle placement is critical for minimally invasive procedures.
• Current methods may require invasive reference frames.
• 2D imaging guidance has limitations in depth perception.

Purpose of the Study:

• To evaluate the targeting accuracy of a novel robot-assisted guidance technique.
• To assess the feasibility of using a single pair of 2D C-arm images for guidance.
• To determine the procedural time for needle placement using this robotic system.

Main Methods:

• 160 semi-automated punctures were performed using a novel robotic device.
• Needle paths were planned using one pair of 2D fluoroscopic images.
• Accuracy was assessed by measuring Euclidean (ED) and normal distances (ND) to targets in CT scans.

Main Results:

• Mean normal distances (ND) ranged from 1.86 mm to 2.68 mm across different imaging angles.
• Mean Euclidean distances (ED) ranged from 2.32 mm to 2.68 mm.
• The average procedure time for four needle placements was 12.7 minutes.

Conclusions:

• Robotic guidance using two 2D fluoroscopy images enables precise needle placement on the first attempt.
• This technique eliminates the need for an invasive dynamic reference frame.
• The approach is a promising tool for targeting anatomical structures visible in fluoroscopic images.