Development of New End-Effector for Proof-of-Concept of Fully Robotic Multichannel Biopsy

Moon, Youngjin; Seo, Joon Beom; Choi, Jaesoon

doi:10.1109/tmech.2015.2418793

Cited by 17 publications

(6 citation statements)

References 46 publications

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“…This phantom has been previously published and validated as a model for teaching image-guided biopsy technique (9). …”

Section: Methodsmentioning

confidence: 99%

“…The phantom model (model 071A, CIRS, Inc., Norfolk, VA) is an abdominal US training phantom consisting of a housing containing 11 randomly positioned circular target lesions encased with a self-healing gel as well as a simulated spine and ribs. This phantom has been previously published and validated as a model for teaching image-guided biopsy technique ( 9 ).…”

Section: Methodsmentioning

confidence: 99%

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Using an abdominal phantom to teach urology residents ultrasound-guided percutaneous needle placement

Filippou¹,

Odisho²,

Ramaswamy³

et al. 2016

Int. braz j urol.

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Introduction:To assess the effect of a hands-on ultrasound training session to teach urologic trainees ultrasound-guided percutaneous needle placement.Materials and methods:University of California, San Francisco (UCSF) urology residents completed a time trial, placing a needle into a phantom model target under ultrasound guidance. Participants were randomized into three educational exposure groups: Group 1's time trial occurred prior to any teaching intervention, group 2's after experiencing a hands-on training module, and group 3's after exposure to both the training module and one-on-one attending feedback. Needle placement speed and accuracy as well as trainees' perceived confidence in utilizing ultrasound were measured.Results:The study cohort consisted of 15 resident trainees. Seven were randomized to group 1, three to group 2, and five to group 3. All residents reported minimal prior ultrasound experience. Their confidence in using ultrasound improved significantly after completing the training module with the most significant improvement seen among junior residents. Time to needle placement was fastest after receiving attending feedback (46.6sec in group 3 vs. 82.7sec in groups 1 and 2, p<0.01). Accuracy also improved with attending feedback, though the number of repositioning attempts did not differ significantly between groups.Conclusions:A hands-on training module and use of an abdominal phantom trainer increased resident confidence and skill in their use of ultrasound to guide percutaneous needle positioning. Attending feedback is critical for improving accuracy in needle guidance toward a target. Ultrasound-guided needle positioning is a teachable skill and can be applicable to multiple urologic procedures.

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“…This phantom has been previously published and validated as a model for teaching image-guided biopsy technique (9). …”

Section: Methodsmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

Using an abdominal phantom to teach urology residents ultrasound-guided percutaneous needle placement

Filippou¹,

Odisho²,

Ramaswamy³

et al. 2016

Int. braz j urol.

View full text Add to dashboard Cite

show abstract

“…Robotic systems have been developed to address a range of image-guided needle biopsy applications ranging from liver ablation to prostate brachytherapy [4], [5]. Yet only a select few have been designed to address the specific challenges of performing lung biopsy [6], [7], [8], [9], [10], [11], [12].…”

Section: Related Workmentioning

confidence: 99%

An Open-Source 7-Axis, Robotic Platform to Enable Dexterous Procedures within CT Scanners

Schreiber

Shak²,

Norbash³

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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This paper describes the design, manufacture, and performance of a highly dexterous, low-profile, 7 Degreeof-Freedom (DoF) robotic arm for CT-guided percutaneous needle biopsy. Direct CT guidance allows physicians to localize tumours quickly; however, needle insertion is still performed by hand. This system is mounted to a fully active motion stage superior to the patient's head and teleoperated by a radiologist. Unlike other similar robots, this robot's fully seriallink approach uses a unique combination of belt and cable drives for high-transparency and minimal-backlash, allowing for an expansive working area and numerous approach angles to targets, all while maintaining a small in-bore cross-section of less than 16cm 2 . Simulations verified the system's expansive collision free work-space and ability to hit targets across the entire chest, as required for lung cancer biopsy. Targeting error was on average < 1mm on a teleoperated accuracy task, illustrating the system's sufficient accuracy to perform biopsy procedures. While this system was developed for lung biopsies, it can be easily modified for other CT-guided needle based procedures. Additionally, this system is open-hardware. 1 †

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“…The universal principle of the existing solutions to this problem is to fetch multiple tissue samples with several repeated insertions, namely, obtaining Multiple Samples with a Single Spoon at different points (MS-SS). Moon et al design a novel end-effector for an automated teleoperating robotic biopsy system that can take multiple samplings during a biopsy [10]. Franke introduces a needle with a round tip.…”

Section: Introductionmentioning

confidence: 99%

A Position-Adjustable Multi-Point Synchronizing Biopsy Tool for Intratumor Heterogeneity: A Proof-of-Principle Study

Liu

Shi

et al. 2020

IEEE Access

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A biopsy needle is a tool employed to fetch a portion of tissue at a point in the volume of diseased tissue, i.e., a Single Sample with a Single Spoon (SS-SS). Using this tool, the pathological status of the unhealthy tissue is generally represented by that of the specimen. However, for the tumor growing heterogeneously, like brainstem glioma, its inner constituent is heterogeneous. Therefore, the histological status of the specimen cannot precisely represent that of other points except the sampled point itself. The common principle of the existing solutions to this problem is to design the needle that fulfills biopsy operation by obtaining Multiple Samples with a Single Spoon at different points (MS-SS). The drawback of the designs following this principle is that during one biopsy operation, the latter samples are contaminated by their formers. The reason for the shortcoming is that the same spoon grabs all samples. To solve this problem, we design a novel biopsy tool that implements a single insertion to obtain Multiple Samples in multiple desired points with Multiple Spoons (MS-MS). The detailed system structure design, the motion procedure of the needle spoon, and the critical stress on the crucial mechanical parts are explicitly presented. Experiments using a built prototype is carried out on agar phantom and ex vivo porcine tissue, respectively. The results demonstrate the feasibility of the novel position-adjustable multi-point synchronizing biopsy tool for investigating intratumoral heterogeneity. INDEX TERMS Biopsy needle, intratumor heterogeneity, synchronizing biopsy, multiple samples, minimally invasive surgery.

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Development of New End-Effector for Proof-of-Concept of Fully Robotic Multichannel Biopsy

Cited by 17 publications

References 46 publications

Using an abdominal phantom to teach urology residents ultrasound-guided percutaneous needle placement

Using an abdominal phantom to teach urology residents ultrasound-guided percutaneous needle placement

An Open-Source 7-Axis, Robotic Platform to Enable Dexterous Procedures within CT Scanners

A Position-Adjustable Multi-Point Synchronizing Biopsy Tool for Intratumor Heterogeneity: A Proof-of-Principle Study

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