Maarten M Arnolli1,2, Martijn Buijze1, Michel Franken1, Koert P de Jong3, Dannis M Brouwer2, Ivo A M J Broeders4. 1. DEMCON Advanced Mechatronics, the Netherlands. 2. Precision Engineering, Science-based Engineering, University of Twente, the Netherlands. 3. Department of Hepato-Pancreato-Biliary Surgery & Liver Transplantation, University Medical Center Groningen, the Netherlands. 4. Minimally Invasive Surgery & Robotics, MIRA Institute for Biomedical Technology and Technical Medicine, University of Twente, the Netherlands.
Abstract
BACKGROUND: Various systems exist for CT-guided needle placement in the thorax and abdomen, but widespread adoption is lacking. The goal of this work is to develop a system for precise needle placement with a design focus on clinical acceptability, applicability and usability. METHODS: A system was outlined incorporating a needle guide on a mechanism with a remote centre of motion, manually placeable around the patient at the desired entry point and lockable by push-button to the CT table. System and patient are scanned for system-to-CT registration and target specification. The needle guide is automatically aimed at the target, for manual needle insertion to specified depth. RESULTS: A fully functional prototype was realized, achieving 1.2±0.6 mm placement error at 79.0±8.4 mm depth and 2.1±0.7 mm at 156.0±6.9 mm for 2×12 in- and out-of-plane punctures in a gelatin phantom. CONCLUSIONS: The system enables precise needle placement in a single insertion and is ready for its first clinical deployment.
BACKGROUND: Various systems exist for CT-guided needle placement in the thorax and abdomen, but widespread adoption is lacking. The goal of this work is to develop a system for precise needle placement with a design focus on clinical acceptability, applicability and usability. METHODS: A system was outlined incorporating a needle guide on a mechanism with a remote centre of motion, manually placeable around the patient at the desired entry point and lockable by push-button to the CT table. System and patient are scanned for system-to-CT registration and target specification. The needle guide is automatically aimed at the target, for manual needle insertion to specified depth. RESULTS: A fully functional prototype was realized, achieving 1.2±0.6 mm placement error at 79.0±8.4 mm depth and 2.1±0.7 mm at 156.0±6.9 mm for 2×12 in- and out-of-plane punctures in a gelatin phantom. CONCLUSIONS: The system enables precise needle placement in a single insertion and is ready for its first clinical deployment.
Authors: Simeon J S Ruiter; Pascale Tinguely; Iwan Paolucci; Jennie Engstrand; Daniel Candinas; Stefan Weber; Robbert J de Haas; Koert P de Jong; Jacob Freedman Journal: Front Oncol Date: 2021-11-15 Impact factor: 6.244
Authors: R C Bakker; R Bastiaannet; S A van Nimwegen; A D Barten-van Rijbroek; R J J Van Es; A J W P Rosenberg; H W A M de Jong; M G E H Lam; J F W Nijsen Journal: Eur Radiol Exp Date: 2020-05-11