476 research outputs found
An Open-Source 7-Axis, Robotic Platform to Enable Dexterous Procedures within CT Scanners
This paper describes the design, manufacture, and performance of a highly
dexterous, low-profile, 7 Degree-of-Freedom (DOF) robotic arm for CT-guided
percutaneous needle biopsy. Direct CT guidance allows physicians to localize
tumours quickly; however, needle insertion is still performed by hand. This
system is mounted to a fully active gantry superior to the patient's head and
teleoperated by a radiologist. Unlike other similar robots, this robot's fully
serial-link approach uses a unique combination of belt and cable drives for
high-transparency and minimal-backlash, allowing for an expansive working area
and numerous approach angles to targets all while maintaining a small in-bore
cross-section of less than . Simulations verified the system's
expansive collision free work-space and ability to hit targets across the
entire chest, as required for lung cancer biopsy. Targeting error is on average
on a teleoperated accuracy task, illustrating the system's sufficient
accuracy to perform biopsy procedures. The system is designed for lung biopsies
due to the large working volume that is required for reaching peripheral lung
lesions, though, with its large working volume and small in-bore
cross-sectional area, the robotic system is effectively a general-purpose
CT-compatible manipulation device for percutaneous procedures. Finally, with
the considerable development time undertaken in designing a precise and
flexible-use system and with the desire to reduce the burden of other
researchers in developing algorithms for image-guided surgery, this system
provides open-access, and to the best of our knowledge, is the first
open-hardware image-guided biopsy robot of its kind.Comment: 8 pages, 9 figures, final submission to IROS 201
Validation of a CT-guided intervention robot for biopsy and radiofrequency ablation: experimental study with an abdominal phantom
PURPOSE:We aimed to evaluate the accuracy of a needle-placement robot for biopsy and radiofrequency ablation on an abdominal phantom.METHODS:A master-slave robotic system has been developed that includes a needle-path planning system and a needle-inserting robot arm with computed tomography (CT) and CT fluoroscopy guidance. For evaluation of its accuracy in needle placement, a commercially available abdominal phantom (Model 057A; CIRS Inc.) was used. The liver part of the phantom contains multiple spherical simulated tumors of three different size spheres. Various needle insertion trials were performed in the transverse plane and caudocranial plane two nodule sizes (10 mm and 20 mm in diameter) to test the reliability of this robot. To assess accuracy, a CT scan was performed after each trial with the needle in situ.RESULTS:The overall error was 2 mm (0–2.6 mm), which was calculated as the distance from the planned trajectory before insertion to the actual needle trajectory after insertion. The standard deviations of the insertions on two nodules (10 mm and 20 mm in diameter) were 0.5 mm and 0.2 mm, respectively.CONCLUSION:The CT-compatible needle placement robot for biopsy and radiofrequency ablation shows relatively acceptable accuracy and could be used for radiofrequency ablation of nodules ≥10 mm under CT fluoroscopy guidance
Computer- and robot-assisted Medical Intervention
Medical robotics includes assistive devices used by the physician in order to
make his/her diagnostic or therapeutic practices easier and more efficient.
This chapter focuses on such systems. It introduces the general field of
Computer-Assisted Medical Interventions, its aims, its different components and
describes the place of robots in that context. The evolutions in terms of
general design and control paradigms in the development of medical robots are
presented and issues specific to that application domain are discussed. A view
of existing systems, on-going developments and future trends is given. A
case-study is detailed. Other types of robotic help in the medical environment
(such as for assisting a handicapped person, for rehabilitation of a patient or
for replacement of some damaged/suppressed limbs or organs) are out of the
scope of this chapter.Comment: Handbook of Automation, Shimon Nof (Ed.) (2009) 000-00
Robot-Assisted Image-Guided Interventions
Image guidance is a common methodology of minimally invasive procedures. Depending
on the type of intervention, various imaging modalities are available. Common imaging
modalities are computed tomography, magnetic resonance tomography, and ultrasound.
Robotic systems have been developed to enable and improve the procedures using these
imaging techniques. Spatial and technological constraints limit the development of
versatile robotic systems. This paper offers a brief overview of the developments of
robotic systems for image-guided interventions since 2015 and includes samples of our
current research in this field
Robot-Assisted Image-Guided Interventions
Image guidance is a common methodology of minimally invasive procedures. Depending on the type of intervention, various imaging modalities are available. Common imaging modalities are computed tomography, magnetic resonance tomography, and ultrasound. Robotic systems have been developed to enable and improve the procedures using these imaging techniques. Spatial and technological constraints limit the development of versatile robotic systems. This paper offers a brief overview of the developments of robotic systems for image-guided interventions since 2015 and includes samples of our current research in this field
Role of robotic arm assistance in computed tomography guided bone biopsy
Background: Use of robotic assistance technique has significant benefits over conventional techniques. The present study looks at the recent technological developments in image guidance for bone biopsy procedures.Methods: Patients who were referred to the department of radiodiagnosis, Bharti Hospital and Dot3d scanning center, Sangli, Maharashtra, India from July 2017 till December 2018 with suspected bone lesions were included in the study. These patients underwent robotic arm CT guided bone biopsy of their lesions.Results: In the present study, 47 patients were included. Authors observed that 93.6% had a positive diagnosis based on CT guided bone biopsy. Metastatic lesions were diagnosed in 8 cases. Inflammatory lesions and tuberculosis were other commonly observed diagnosis.Conclusions: Further growth and development of medical imaging devices have allowed more interventional procedures to be performed and more patients to benefit from them. Radiologists needs to develop a thorough understanding of the anatomical structure involved and need to acquire both solid grounding in technology and the practical skills to visualize a nerve structure
Enabling technologies for MRI guided interventional procedures
This dissertation addresses topics related to developing interventional assistant devices
for Magnetic Resonance Imaging (MRI). MRI can provide high-quality 3D visualization
of target anatomy and surrounding tissue, but the benefits can not be readily harnessed for
interventional procedures due to difficulties associated with the use of high-field (1.5T or
greater) MRI. Discussed are potential solutions to the inability to use conventional mecha-
tronics and the confined physical space in the scanner bore.
This work describes the development of two apparently dissimilar systems that repre-
sent different approaches to the same surgical problem - coupling information and action
to perform percutaneous (through the skin) needle placement with MR imaging. The first
system addressed takes MR images and projects them along with a surgical plan directly
on the interventional site, thus providing in-situ imaging. With anatomical images and a
corresponding plan visible in the appropriate pose, the clinician can use this information to
perform the surgical action.
My primary research effort has focused on a robotic assistant system that overcomes
the difficulties inherent to MR-guided procedures, and promises safe and reliable intra-prostatic needle placement inside closed high-field MRI scanners. The robot is a servo
pneumatically operated automatic needle guide, and effectively guides needles under real-
time MR imaging. This thesis describes development of the robotic system including
requirements, workspace analysis, mechanism design and optimization, and evaluation of
MR compatibility. Further, a generally applicable MR-compatible robot controller is de-
veloped, the pneumatic control system is implemented and evaluated, and the system is
deployed in pre-clinical trials. The dissertation concludes with future work and lessons
learned from this endeavor
Prevalence of haptic feedback in robot-mediated surgery : a systematic review of literature
© 2017 Springer-Verlag. This is a post-peer-review, pre-copyedit version of an article published in Journal of Robotic Surgery. The final authenticated version is available online at: https://doi.org/10.1007/s11701-017-0763-4With the successful uptake and inclusion of robotic systems in minimally invasive surgery and with the increasing application of robotic surgery (RS) in numerous surgical specialities worldwide, there is now a need to develop and enhance the technology further. One such improvement is the implementation and amalgamation of haptic feedback technology into RS which will permit the operating surgeon on the console to receive haptic information on the type of tissue being operated on. The main advantage of using this is to allow the operating surgeon to feel and control the amount of force applied to different tissues during surgery thus minimising the risk of tissue damage due to both the direct and indirect effects of excessive tissue force or tension being applied during RS. We performed a two-rater systematic review to identify the latest developments and potential avenues of improving technology in the application and implementation of haptic feedback technology to the operating surgeon on the console during RS. This review provides a summary of technological enhancements in RS, considering different stages of work, from proof of concept to cadaver tissue testing, surgery in animals, and finally real implementation in surgical practice. We identify that at the time of this review, while there is a unanimous agreement regarding need for haptic and tactile feedback, there are no solutions or products available that address this need. There is a scope and need for new developments in haptic augmentation for robot-mediated surgery with the aim of improving patient care and robotic surgical technology further.Peer reviewe
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