Body‐mounted robotic instrument guide for image‐guided cryotherapy of renal cancer

Abstract

The body-mounted robotic instrument guide allows positioning of the probe during image-guided cryotherapy of renal cancer and was done in fewer attempts and in less time than the free-hand approach. The accuracy of the placement of the cryotherapy probe was better using the robotic instrument guide than without the guide when no organ motion was present. The accuracy between the robotic and free-hand approach becomes comparable when organ motion was present.

Design and validation of a CT‐guided robotic system for lung cancer brachytherapy

“…If respiratory motion is not restricted, it may cause a dangerous puncture. Some robotic systems [19][20][21][22]25,34 use body-mounted method or real-time needle guidance 35 to reduce errors which are caused by respiratory motion. However, the accuracy has not been significantly improved as some new error sources were discovered.…”

Robot‐assistant for MRI‐guided liver ablation: A pilot study

“…This paper presented a robotic instrument for MRIguided ablation of the liver describing the design, the control algorithm and the user interface, and the clinical workflow. Differently from other systems, 8,26 the robot was designed to operate in closed-bore MRI scanners and can realign to different incision sites without manual intervention. Additionally, the robot is actuated by commercially available pneumatic cylinders resulting in affordability and lower system complexity.…”

“…This approach was chosen due to the length of the coaxial needle normally used for the ablation procedure (typically 200 mm), which would otherwise collide with the magnet bore (GE, Discovery MR750, 3 T, 60 cm nominal bore diameter) and is common to several robotic instruments for MRI-guided percutaneous intervention. 17,23,26 The main components of the system and their function are depicted in Fig. 1.…”

“…16,23 A body-mounted robot for percutaneous intervention with a compact footprint has recently been proposed as a promising alternative. 26 However, the robot has to be manually placed on the correct incision site, which is assumed known from preoperative images. Additionally, the access to the incision site and the concomitant presence of radio-frequency (RF) receiver coils on the patient's abdomen remain potentially problematic with this architecture.…”

“…Differently from Ref. 26, the robot can realign to different incision sites without requiring manual repositioning, offering more flexibility in a clinical setting. Compared to our initial prototype, 25 this system has a larger workspace, a more elaborated control strategy, and a refined user interface.…”