A robotic needle-positioning and guidance system for CT-guided puncture: Ex vivo results

Kettenbach, Joachim; Kara, Levent; Toporek, Grzegorz Andrzej; Fuerst, Martin; Kronreif, Gernot (2014). A robotic needle-positioning and guidance system for CT-guided puncture: Ex vivo results. Minimally invasive therapy & allied technologies, 23(5), pp. 271-278. Informa Healthcare 10.3109/13645706.2014.928641

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PURPOSE To test the feasibility of a robotic needle-guidance platform during CT-guided puncture ex vivo. MATERIAL AND METHODS Thin copper wires inserted into a torso phantom served as targets. The phantom was placed on a carbon plate and the robot-positioning unit (RPU) of the guidance platform (iSYS Medizintechnik GmbH, Kitzbuehel, Austria) was attached. Following CT imaging and automatic registration a double oblique trajectory was planned and the RPU was remotely moved into appropriate position and angulation. A 17G-puncture needle was then manually inserted until the preplanned depth, permanently guided by the RPU. The CT scan was repeated and the distance between the actual needle tip and the target was evaluated. RESULTS Automatic registration was successful in ten experiments and the median duration of an experiment was 9.6 (6.4-46.0) minutes. The angulation of the needle path in x-y and z-axis was within 15.6° to 32.6°, and -32.8° to 3.2°, respectively and the needle insertion depth was 92.8 ± 14.4 mm. The Euclidean distance between the actual needle tip and the target was 2.3 ± 0.8 (range, 0.9-3.7) mm. CONCLUSION Automatic registration and accurate needle placement close to small targets was demonstrated. Study settings and torso phantom were very close to the clinical reality.

Item Type:

Journal Article (Original Article)

Division/Institute:

04 Faculty of Medicine > Department of Radiology, Neuroradiology and Nuclear Medicine (DRNN) > Institute of Diagnostic, Interventional and Paediatric Radiology
10 Strategic Research Centers > ARTORG Center for Biomedical Engineering Research > ARTORG Center - Image Guided Therapy

UniBE Contributor:

Kettenbach, Joachim; Kara, Levent and Toporek, Grzegorz Andrzej

Subjects:

500 Science > 570 Life sciences; biology
600 Technology > 610 Medicine & health

ISSN:

1364-5706

Publisher:

Informa Healthcare

Language:

English

Submitter:

Lars Marius Schwalbe

Date Deposited:

19 Dec 2016 15:19

Last Modified:

19 Dec 2016 15:19

Publisher DOI:

10.3109/13645706.2014.928641

PubMed ID:

24953817

Uncontrolled Keywords:

Computed tomography; helical; image guidance; interventional radiology; needle interventions; percutaneous biopsy; robotics; technology for surgical and interventional radiology

URI:

https://boris.unibe.ch/id/eprint/91469

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