System for robotically assisted percutaneous procedures with computed tomography guidance

Masamune, Ken; Fichtinger, Gabor; Patriciu, Alexandru; Susil, Robert C.; Taylor, Russell H.; Kavoussi, Louis R.; Anderson, James H.; Sakuma, Ichiro; Dohi, Takeyoshi; Stoianovici, Dan

doi:10.1002/igs.10024

Cited by 59 publications

(35 citation statements)

References 37 publications

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“…2), thus they should be converted to the robot coordinate system (XYZ). For this reason, a fiducial frame called Z-frame is used [29]. The origin and the rotation matrix representing the three orthogonal vectors of the Z-frame are sent by the navigation software to the robot controller along with the target position and needle trajectory.…”

Section: Error Sources and Componentsmentioning

confidence: 99%

Accuracy study of a robotic system for MRI‐guided prostate needle placement

Seifabadi

Cho

Song

et al. 2012

Robotics Computer Surgery

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Background Accurate needle placement is the first concern in percutaneous MRI-guided prostate interventions. In this phantom study, different sources contributing to the overall needle placement error of a MRI-guided robot for prostate biopsy have been identified, quantified, and minimized to the possible extent. Methods and Materials The overall needle placement error of the system was evaluated in a prostate phantom. This error was broken into two parts: the error associated with the robotic system (called before-insertion error) and the error associated with needle-tissue interaction (called due-to-insertion error). The before-insertion error was measured directly in a soft phantom and different sources contributing into this part were identified and quantified. A calibration methodology was developed to minimize the 4-DOF manipulator’s error. The due-to-insertion error was indirectly approximated by comparing the overall error and the before-insertion error. The effect of sterilization on the manipulator’s accuracy and repeatability was also studied. Results The average overall system error in phantom study was 2.5 mm (STD=1.1mm). The average robotic system error in super soft phantom was 1.3 mm (STD=0.7 mm). Assuming orthogonal error components, the needle-tissue interaction error was approximated to be 2.13 mm thus having larger contribution to the overall error. The average susceptibility artifact shift was 0.2 mm. The manipulator’s targeting accuracy was 0.71 mm (STD=0.21mm) after robot calibration. The robot’s repeatability was 0.13 mm. Sterilization had no noticeable influence on the robot’s accuracy and repeatability. Conclusions The experimental methodology presented in this paper may help researchers to identify, quantify, and minimize different sources contributing into the overall needle placement error of an MRI-guided robotic system for prostate needle placement. In the robotic system analyzed here, the overall error of the studied system remained within the acceptable range.

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Section: Error Sources and Componentsmentioning

confidence: 99%

Accuracy study of a robotic system for MRI‐guided prostate needle placement

Seifabadi

Cho

Song

et al. 2012

Robotics Computer Surgery

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“…These target and trajectory are given in MRI coordinate system and thus needed to be transformed into robot coordinate system. For this reason, Z-frame is used [37]. Then, the line defined by the target and the trajectory intersects the front and rear planes (Fig.…”

Section: System Designmentioning

confidence: 99%

Robotic system for MRI-guided prostate biopsy: feasibility of teleoperated needle insertion and ex vivo phantom study

et al. 2011

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Purpose Magnetic Resonance Imaging (MRI) combined with robotic assistance has the potential to improve on clinical outcomes of biopsy and local treatment of prostate cancer. Methods We report the workspace optimization and phantom evaluation of a five Degree of Freedom (DOF) parallel pneumatically actuated modular robot for MRI-guided prostate biopsy. To shorten procedure time and consequently increase patient comfort and system accuracy, a prototype of a MRI-compatible master–slave needle driver module using piezo motors was also added to the base robot. Results Variable size workspace was achieved using appropriate link length, compared with the previous design. The 5-DOF targeting accuracy demonstrated an average error of 2.5mm (STD=1.37mm) in a realistic phantom inside a 3T magnet with a bevel-tip 18G needle. The average position tracking error of the master–slave needle driver was always below 0.1mm. Conclusion Phantom experiments showed sufficient accuracy for manual prostate biopsy. Also, the implementation of teleoperated needle insertion was feasible and accurate. These two together suggest the feasibility of accurate fully actuated needle placement into prostate while keeping the clinician supervision over the task.

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“…Most robotic needle placement setups utilize the workflow introduced by Masamune et al [25]. Although our system's workflow is similar, it has some different innovations.…”

Section: Methodsmentioning

confidence: 99%

A Fully Sensorized Cooperative Robotic System for Surgical Interventions

Tovar-Arriaga

Vargas

Ramos

et al. 2012

Sensors

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Abstract:In this research a fully sensorized cooperative robot system for manipulation of needles is presented. The setup consists of a DLR/KUKA Light Weight Robot III especially designed for safe human/robot interaction, a FD-CT robot-driven angiographic C-arm system, and a navigation camera. Also, new control strategies for robot manipulation in the clinical environment are introduced. A method for fast calibration of the involved components and the preliminary accuracy tests of the whole possible errors chain are presented. Calibration of the robot with the navigation system has a residual error of 0.81 mm (rms) with a standard deviation of ±0.41 mm. The accuracy of the robotic system while targeting fixed points at different positions within the workspace is of 1.2 mm (rms) with a standard deviation of ±0.4 mm. After calibration, and due to close loop control, the absolute positioning accuracy was reduced to the navigation camera accuracy which is of 0.35 mm (rms). The implemented control allows the robot to compensate for small patient movements.

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System for robotically assisted percutaneous procedures with computed tomography guidance

Cited by 59 publications

References 37 publications

Accuracy study of a robotic system for MRI‐guided prostate needle placement

Accuracy study of a robotic system for MRI‐guided prostate needle placement

Robotic system for MRI-guided prostate biopsy: feasibility of teleoperated needle insertion and ex vivo phantom study

A Fully Sensorized Cooperative Robotic System for Surgical Interventions

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