An ultrasound-driven needle-insertion robot for percutaneous cholecystostomy

Abstract

A real-time ultrasound-guided needle-insertion medical robot for percutaneous cholecystostomy has been developed. Image-guided interventions have become widely accepted because they are consistent with minimal invasiveness. However, organ or abnormality displacement due to involuntary patient motion may undesirably affect the intervention. The proposed instrument uses intraoperative images and modifies the needle path in real time by using a novel ultrasonic image segmentation technique. In phantom and volunteer experiments, the needle path updating time was 130 and 301 ms per cycle, respectively. In animal experiments, the needle could be placed accurately in the target.

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

“…or Hong et Al. [8,9]) our prototype is also fixed on the abdomen of the patient, so that the motions of the patient and the external motions due to breathing are naturally compensated. Special straps are fastened to the body to avoid involuntary motion of the base support.…”

3D ultrasound-guided robotic steering of a flexible needle via visual servoing

“…Hong et al [2] designed a robotic system to drive a rigid needle towards a moving target tracked using 2D ultrasound. This system required the needle to be aligned with the ultrasound image plane.…”

“…In [2] the Hough transform (HT) is used to detect a straight needle in 2D ultrasound images. The generalized HT allows the detection of more complex needle shapes, e.g.…”

Guidance of an ultrasound probe by visual servoing

“…are teleoperated by the user. In another work [9], the authors present a robotic system for needle insertion with the US probe rigidly fixed to the base of a small 2-d.o.f. robot held by a passive 5-d.o.f.…”