System for robotically assisted percutaneous procedures with computed tomography guidance

TitleSystem for robotically assisted percutaneous procedures with computed tomography guidance
Publication TypeJournal Article
Year of Publication2001
AuthorsMasamune, K., Fichtinger G., Patriciu A., Susil R., Taylor R., Kavoussi L., Anderson J., Sakuma I., Dohi T., & Stoianovici D.
JournalJournal of Computer Aided Surgery
KeywordsBiopsy, Computer-Assisted, Humans, Image Processing, Imaging, instrumentation, instrumentation/methods, Needle, Phantoms, Robotics, Surgery, Tomography, User-Computer Interface, X-Ray Computed

We present the prototype of an image-guided robotic system for accurate, consistent placement of percutaneous needles in soft-tissue targets under CT guidance inside the gantry of a CT scanner The couch-mounted system consists of a seven-degrees-of-freedom passive mounting arm, a remote center-of-motion robot, and a motorized needle-insertion device Single-image-based coregistration of the robot, image space is achieved by stereotactic localization using a miniature version of the BRW head frame built into the radiolucent needle driver The surgeon plans, controls the intervention in the scanner room on a desktop computer that receives DICOM images from the scanner The system does not need calibration, employs pure image-based registration, and does not utilize any vendor-specific hardware or software features In the open air, where there is no needle-tissue interaction, we systematically achieved an accuracy better than 1 mm in hitting targets at 5-8 cm from the fulcrum point In the phantom, the orientation accuracy was 0 6 degrees, and the distance between the needle tip, the target was 1 04 mm Experiments indicated that this robotic system is suitable for a variety of percutaneous clinical applications

URLhttp://dx doi org/10 1002/igs 10024
PerkWeb Citation KeyMasamune2001