A Parallel Robotic System with Force Sensors for Percutaneous Procedures Under CT-Guidance

Abstract

Abstract. This paper presents a new robotic framework for assisted CT-guided percutaneous procedures with force feedback and automatic patient-to-image registration of needle. The purpose is to help practitioners in performing accurate needle insertion while preserving them from harmful intra-operative X-rays imaging devices. Starting from medical requirements for needle insertions in the liver under CT-scan, a description of a dedicated parallel robot is made. Its geometrical and physical properties are explained. The design is mainly based on the accuracy and safety constraints. A real prototype is presented that is currently tested.

Needle insertion into soft tissue: A survey

“…Schneider et al [40] presented a robotic device for transrectal needle insertion into the prostate with integrated ultrasound. Ebrahimi et al [41] introduced a hand-held steerable device which incorporates a pre-bent stylet inside a straight cannula, and Maurin et al [42] presented a parallel robotic system for percutaneous procedures under CT guidance. Hong et al [43] built an ultrasound-guided needle insertion robot.…”

Advances in Haptics, Tactile Sensing, and Manipulation for Robot-Assisted Minimally Invasive Surgery, Noninvasive Surgery, and Diagnosis

“…MARS was shown to have the capability of being used in a variety of surgical procedures including spine and trauma surgery, where accurate positioning and orientation of a handheld surgical robot is of interest [35]. Maurin et al developed a 5-DOF parallel robotic platform for CT-guided percutaneous procedures with force feedback and automatic patient-to-image registration of needle [36]. Tsai and Hsu developed a parallel surgical robot for precise skull drilling in stereotactic neurosurgical operations [37].…”

Pose Estimation and Feature Tracking for Robot Assisted Surgery with Medical Imaging

“…A registration with a single image is very well suited for CT-guided robotic systems in interventional radiology, particularly to quickly correct the needle positioning (see Fig. 1.8) during percutaneous procedures [27]. In stereotaxy, line fiducials are usually used to produce a set of image points that are further employed in a pose estimation algorithm (see Fig.…”