Semi-Autonomous Needle-Positioning Device for Percutaneous Nephrolithotomy Procedures

Conradie, Jean-Pierre; Scheffer, Cornie; Schreve, Kristiaan; Zarrabi, Amir

doi:10.1142/s0219519410003708

Cited by 4 publications

(3 citation statements)

References 14 publications

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“…1,2 Typical percutaneous needle insertion includes prostate brachytherapy and human tissue biopsy in which needles are inserted into *Corresponding author. the human tissue toward a specified target.…”

Section: Introductionmentioning

confidence: 99%

Study of the Targeting Error for Percutaneous Needle Insertion Into Soft Phantom Material

Wang

Jiang

2016

J. Mech. Med. Biol.

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Percutaneous needle insertion is widely used in minimally invasive procedures, in which the flexible needle is steered to reach a specific target inside the human body. The targeting error is due to a combination of flexible needle deflection and target displacement in soft tissue and only a very limited number of studies have focused on both two factors. This paper presents a targeting error calculation method which incorporates an energy-based needle deflection model into a soft tissue finite-element (FE) model. The needle insertion process is discretized into several increments on the basis of the quasi-static method. Needle deflection in each step is obtained by the needle-soft tissue interaction model which is applied into the FE model as the displacement input. A 2D-planar FE model is used to model the target displacement by imposing needle distribution forces and needle deflection at different steps on the appointed reference nodes. The soft tissue is modeled as a non-linear hyperelastic material with geometrical non-linearity. Uniaxial tensile strength tests are utilized to determine the soft tissue parameters. Needle targeting experiments are conducted to validate the simulation results. Results show that the proposed method can predict the needle targeting errors while the averaged prediction error stays below 0.4 mm. At last, we conduct different experiments to compensate the obtained targeting error and thus, reaching preferable effects.

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Section: Introductionmentioning

confidence: 99%

Study of the Targeting Error for Percutaneous Needle Insertion Into Soft Phantom Material

Wang

Jiang

2016

J. Mech. Med. Biol.

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“…A 5-DOF manipulator has a virtual RCM [28]. Various mechanisms have also been proposed using different kinematic mechanisms such as XY or XYZ stages [29], [30], Gough-Stewart type parallel platforms or parallel linkage [14]- [16], [31], and downscaled articulated arms [32]- [36].…”

Section: Introductionmentioning

confidence: 99%

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

Moon

Seo

Choi

2015

IEEE/ASME Trans. Mechatron.

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This paper presents a novel end-effector designed for a teleoperation type robotic system to perform automated sampling for needle biopsies. The objectives of the robotic system are to realize teleoperation control of the pose and position of the biopsy instrument to reduce X-ray exposure and enhance the precision and accuracy of the procedure as well as to automate the sequence of multiple samplings during the biopsy. In order to realize the desired functions, the end-effector comprises three modules: the needle cartridge, needle positioning mechanism, and needle driving unit. The detachable needle cartridge contains six needle sets: one guide needle and five sampling needles. It rotates itself to change needles and rotates the needle body to adjust the facing angle of the needle tip. The needle positioning mechanism is spherical with two degrees of freedom and is a modification of the typical hemisphere type. The needle driving unit controls the needle grab/release and insertion/retreat motions. A concept design and prototype were developed with an experimental master-salve system for the teleoperation. The experimental results successfully demonstrated the feasibility of the robotic biopsy procedure.

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“…A parallelogram is a typical RCM mechanism [6, 14–17], Gimbal [1, 18] and arc [19] can also be an RCM mechanism. Combinations of double planar mechanisms [5, 20–22] and a Gough-Stewart platform-type parallel mechanism [3] have been developed as RCM mechanisms.…”

Section: Introductionmentioning

confidence: 99%

Design and Kinematic Analysis of a New End-Effector for a Robotic Needle Insertion-Type Intervention System

Moon

Choi

Seo

et al. 2014

International Journal of Advanced Robotic Systems

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This paper presents a new end-effector as a key component for a robotic needle insertion-type intervention system and its kinematic analysis. The mechanism is designed as a spherical mechanism with a revolute joint and a curved sliding joint, and its links always move on the surface of a sphere. The remote centre of motion (RCM) of the designed mechanism is placed below the base of the mechanism to avoid contact with the patient's body, unlike the conventional end-effectors developed for needle insertion. For the proposed mechanism, the forward kinematics are solved in terms of input joint parameters and then the reverse kinematics are solved by using the cross-product relationship between each joint vector and a vector mutually perpendicular to the vectors. The kinematic solutions are confirmed by numerical examples.

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Semi-Autonomous Needle-Positioning Device for Percutaneous Nephrolithotomy Procedures

Cited by 4 publications

References 14 publications

Study of the Targeting Error for Percutaneous Needle Insertion Into Soft Phantom Material

Study of the Targeting Error for Percutaneous Needle Insertion Into Soft Phantom Material

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

Design and Kinematic Analysis of a New End-Effector for a Robotic Needle Insertion-Type Intervention System

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