Linear actuation is a basic need in robotized manipulation of surgical instruments, that must comply with a challenging environment in terms of safety, compactness and now often compatibility with imaging modalities like CT or MRI. In this paper, we focus on needle manipulation for interventional radiology. We propose a needle driver, i.e. a linear actuator for needle insertion, based on the inchworm principle combined with pneumatic energy. Our first contribution is to propose, model and implement the device using a so-called auxetic structure. Its use increases achievable displacement under pressure and provides sufficient off-axis stiffness to use the actuator without additional guidance. Simplified modeling is introduced for the actuator synthesis. Our second contribution is to implement the actuator with multimaterial additive manufacturing combining rigid and flexible materials to increase compactness. As a third contribution, initial assessment of component sterilization and compatibility with X-ray and MRI imaging modalities is presented.
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To compare robotic-assisted needle insertions performed under CBCT-guidance to standard manual needle insertions. MATERIALS AND METHODS A homemade robotic prototype was used by two operators to perform robotic and manual needle insertions on a custom-made phantom. Both the operators had no experience with the prototype before starting the trial. The primary endpoint was accuracy (i.e. the minimal distance between the needle tip and the centre of the target) between robotic and manual insertions. Secondary endpoints included total procedure time and operators' radiation exposure. The Wilcoxon test was used. A P value less than 0.05 was considered statistically significant. RESULTS Thirty-three (17 manual, 16 robotic) needle insertions were performed. Mean accuracy for robotic insertion was 2.3 ± 0.9 mm (median 2.1; range 0.8-4.2) vs 2.3 ± 1 mm (median 2.1; range 0.7-4.4) for manual insertion (p=0.84). Mean procedure time was 683 ± 57 sec (median 670; range 671-849) for the robotic group vs 552 ± 40 sec (median 548; range 486-62) for the manual group (p=0.0002). Mean radiation exposure was 3.25 times less for the robotic insertion on comparison to manual insertion for the operator 1 (0.4 vs 1.3 µGy); and 4.15 times less for the operator 2 (1.9 vs 7.9 µGy). CONCLUSION The tested robotic prototype showed accuracy comparable to that achieved with manual punctures coupled to a significant reduction of operators' radiation exposure. Further in-vivo studies are necessary to confirm the efficiency of the system.
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