Automatic entry point planning for robotic post-mortem CT-based needle placement

Ebert, Lars C.; Fürst, Martin; Ptacek, Wolfgang; Ruder, Thomas D.; Gascho, Dominic; Schweitzer, Wolf; Thali, Michael J.; Flach, Patricia M.

doi:10.1007/s12024-016-9798-5

Cited by 3 publications

(2 citation statements)

References 16 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In our evaluation study, the execution time did not prohibit efficient biopsy sampling, especially if heat maps were calculated in the background while the robot still executed the previous needle insertion. Excluding the feasibility evaluation, our mean 4.81±1.56 s runtime is less than the 9.5 s seconds reported by Ebert et al [29] without robot feasibility evaluation. Furthermore, runtime of the system never exceeded 10 s during our evaluation compared to up to 25 s which the system of Ebert et al could need if insertions were not possible with one orientation.…”

Section: Discussioncontrasting

confidence: 68%

See 1 more Smart Citation

Robotic Tissue Sampling for Safe Post-Mortem Biopsy in Infectious Corpses

Neidhardt

Gerlach

Mieling

et al. 2022

IEEE Trans. Med. Robot. Bionics

View full text Add to dashboard Cite

In pathology and legal medicine, the histopathological and microbiological analysis of tissue samples from infected deceased is a valuable information for developing treatment strategies during a pandemic such as COVID-19. However, a conventional autopsy carries the risk of disease transmission and may be rejected by relatives. We propose minimally invasive biopsy with robot assistance under CT guidance to minimize the risk of disease transmission during tissue sampling and to improve accuracy. A flexible robotic system for biopsy sampling is presented, which is applied to human corpses placed inside protective body bags. An automatic planning and decision system estimates optimal insertion point. Heat maps projected onto the segmented skin visualize the distance and angle of insertions and estimate the minimum cost of a puncture while avoiding bone collisions. Further, we test multiple insertion paths concerning feasibility and collisions. A custom end effector is designed for inserting needles and extracting tissue samples under robotic guidance. Our robotic post-mortem biopsy (RPMB) system is evaluated in a study during the COVID-19 pandemic on 20 corpses and 10 tissue targets, 5 of them being infected with SARS-CoV-2. The mean planning time including robot path planning is 5.72±1.67 s. Mean needle placement accuracy is 7.19±4.22 mm.

show abstract

Section: Discussioncontrasting

confidence: 68%

“…In our evaluation needle collision could not be avoided in 2.0 % of insertions. Note that, our system could be extended for collision detection and insertion order planning similar to Ebert et al [29]. However, in a real-world clinical workflow, the needles do not need to remain inside the corpse but can be removed after each biopsy.…”

Section: Discussionmentioning

confidence: 99%