Three‐dimensional ultrasound‐guided robotic needle placement: an experimental evaluation

Boctor, Emad M.; Choti, Michael A.; Burdette, Everette C.; Webster, Robert J.

doi:10.1002/rcs.184

Cited by 129 publications

(104 citation statements)

References 36 publications

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“…Needle placement covers applications like biopsies, fluid extraction from internal organs (cardiac tamponade, lungs) or placement of radioactive seeds in different body organs in minimally invasive cancer therapy [1][2][3]. In [1] it is shown that a robotic device enhances the needle placement precision beyond the natural human capabilities.…”

Section: "A Wise Man Should Consider That Health Is the Greatest Of Hmentioning

confidence: 99%

“…These techniques provide a set of images enabling the preplanning of the procedure where the physician defines safe linear trajectories to reach the targeted point(s). Nevertheless, in order to increase the safety of the procedure it is desired to have a real-time visual feedback of the needle placement during the procedure to reduce the risk of damaging any internal body structures [2]. During the first steps of introducing robotic systems in medical arena, the imagistic methods that can be used during the needle placement were defined [3,4]: High Intensity Focal Ultrasound (HIFU), CT, MRI and Positron Emitted Tomography (PET Scan).…”

Section: "A Wise Man Should Consider That Health Is the Greatest Of Hmentioning

confidence: 99%

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A CT-Scan Compatible Robotic Device for Needle Placement in Medical Applications

Vaida

Gherman

Pîslă

et al. 2013

AEF

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Abstract. Several medical applications require devices capable of placing different substances inside the human body. Due to the nature of the task it is desirable to perform these actions with visual feedback, whereas the most viable solution, especially for deep target points, is computer tomography (CT). The paper presents an innovative device, which can be fitted inside the CT gantry, and has decoupled motions to ensure maximum accuracy during the needle placement. It will be shown that for needle placement tasks 5 degrees of freedom (DOF) are sufficient to achieve the task. The geometric and kinematic model of the robot will be presented. The workspace and precision mapping are computed. Some simulation results will show the robot capabilities as well as its placement in the CT scan environment.

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Section: "A Wise Man Should Consider That Health Is the Greatest Of Hmentioning

confidence: 99%

Section: "A Wise Man Should Consider That Health Is the Greatest Of Hmentioning

confidence: 99%

A CT-Scan Compatible Robotic Device for Needle Placement in Medical Applications

Vaida

Gherman

Pîslă

et al. 2013

AEF

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“…Most of the work in this category has focused on tracking needles, catheters or surgical grippers in 2D ultrasound images [25], and recently on tracking the shaft of instruments [10], [12], [6], [8] using 3D ultrasound.…”

Section: Related Workmentioning

confidence: 99%

“…(6) (7) (8) Here, estimated parameters are labeled by , | · | takes the absolute value, and || · || represents the norm of a vector.…”

Section: Simulationmentioning

confidence: 99%

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Detection of curved robots using 3D ultrasound

Ren¹,

Vasilyev²

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Three-dimensional ultrasound can be an effective imaging modality for image-guided interventions since it enables visualization of both the instruments and the tissue. For robotic applications, its realtime frame rates create the potential for image-based instrument tracking and servoing. These capabilities can enable improved instrument visualization, compensation for tissue motion as well as surgical task automation. Continuum robots, whose shape comprises a smooth curve along their length, are well suited for minimally invasive procedures. Existing techniques for ultrasound tracking, however, are limited to straight, laparoscopic-type instruments and thus are not applicable to continuum robot tracking. Toward the goal of developing tracking algorithms for continuum robots, this paper presents a method for detecting a robot comprised of a single constant curvature in a 3D ultrasound volume. Computational efficiency is achieved by decomposing the six-dimensional circle estimation problem into two sequential three-dimensional estimation problems. Simulation and experiment are used to evaluate the proposed method.

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Toward Bionic Arthroscopy: A Comprehensive Perspective of Continuum Robotics Principles and Prototypes for the Inception of Arthroscopic Surgery Robots

Huang,

Shi,

Gao

et al. 2023

Advanced Intelligent Systems

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In this study, an innovative exploration of leveraging bionics and continuum robotics principles to develop a novel solution for arthroscopic surgery is embarked on. Inspired by the flexibility and adaptability of organisms like snakes and octopuses, the continuum robot concept aims to address the inherent challenges in traditional arthroscopy, including lower precision, manual tremors, and long surgeon learning curves. The implementation of these principles in the human body, however, faces significant obstacles, particularly achieving high‐performance motion control amid strong nonlinearity and coupling between modules. This research focuses on intelligent integration and enhanced safety in human‐machine interaction, aiming for improved control precision and flexibility in arthroscopic procedures. A thorough literature review of endoscopic continuum robots is conducted, highlighting current advancements in actuation, structure, sensing, and control technologies. The study concludes with an assessment of these technologies, their limitations, and future potential, in light of the unique demands of arthroscopic continuum robots. This comprehensive review bridges bionics and robotics, presenting the opportunities and challenges in applying continuum robotics to arthroscopic surgery. The goal is to encourage further research in this area, contributing to the development of prototype robots that enhance the precision and safety of arthroscopic surgery.

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Three‐dimensional ultrasound‐guided robotic needle placement: an experimental evaluation

Abstract: Background Clinical use of image-guided needle placement robots has lagged behind laboratory-demonstrated robotic capability. Bridging this gap requires reliable and easy-to-use robotic systems.

Cited by 129 publications

References 36 publications

A CT-Scan Compatible Robotic Device for Needle Placement in Medical Applications

A CT-Scan Compatible Robotic Device for Needle Placement in Medical Applications

Detection of curved robots using 3D ultrasound

Toward Bionic Arthroscopy: A Comprehensive Perspective of Continuum Robotics Principles and Prototypes for the Inception of Arthroscopic Surgery Robots

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