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Related Experiment Videos

A robotic system for percutaneous renal access

J A Cadeddu1, A Bzostek, S Schreiner

  • 1James Buchanan Brady Urological Institute and the Department of Radiology, Johns Hopkins Medical Institutions, Baltimore, Maryland 21224, USA.

The Journal of Urology
|September 25, 1997
PubMed
Summary
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This study demonstrates a robotic system for precise percutaneous renal access, improving accuracy in targeting small calyces. Further development is needed for clinical application.

Area of Science:

  • Urology
  • Robotics
  • Medical Imaging

Background:

  • Percutaneous renal access is challenging, especially with non-distended collecting systems.
  • Precise calyx entry is crucial for percutaneous procedures but requires significant expertise.

Purpose of the Study:

  • To develop and validate a robotic system for automated fluoroscopic image-guided percutaneous needle placement.
  • To enhance accuracy and reduce technical difficulty in renal access.

Main Methods:

  • A three-degree-of-freedom robot with a needle injector was used with biplanar fluoroscopy.
  • Robot-to-image calibration and distortion correction were performed.
  • Ex vivo porcine kidneys and in situ pig models were used for validation.

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Main Results:

  • In vitro needle tip positioning accuracy was 0.43 mm for calyces 3-7 mm in diameter.
  • Successful 'one stick' access in ex vivo models was 83% (10/12 attempts).
  • Successful in situ first-attempt access was 50% (6/12 target calyces).

Conclusions:

  • The feasibility of a robotic system for percutaneous renal calyceal access was demonstrated.
  • Further research is needed to refine the system, reduce procedural steps, and address tissue deflection for clinical use.