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.
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.
Authors: Andrew M Ball; Michelle Finnegan; Shane Koppenhaver; Will Freres; Jan Dommerholt; Orlando Mayoral Del Moral; Carel Bron; Randy Moore; Erin E Ball; Emily E Gaffney Journal: J Man Manip Ther Date: 2019-02-20
Authors: Paul Jahnke; Felix Benjamin Schwarz; Marco Ziegert; Tobias Almasi; Owais Abdelhadi; Maximilian Nunninger; Bernd Hamm; Michael Scheel Journal: Eur Radiol Date: 2018-05-22 Impact factor: 5.315
Authors: Seyed MohammadReza Sajadi; Seyed Mojtaba Karbasi; Henrik Brun; Jim Tørresen; Ole Jacob Elle; Kim Mathiassen Journal: Front Robot AI Date: 2022-06-15
Authors: Rachel Hecht; Ming Li; Quirina M B de Ruiter; William F Pritchard; Xiaobai Li; Venkatesh Krishnasamy; Wael Saad; John W Karanian; Bradford J Wood Journal: Cardiovasc Intervent Radiol Date: 2020-01-08 Impact factor: 2.740