A Computer-Assisted Robotic Ultrasound-Guided Biopsy System for Video-Assisted Surgery

Megali, Giuseppe; Tonet, O.; Stefanini, Cesare; Boccadoro, Mauro; Papaspyropoulos, Vassilios; Angelini, L.; Dario, P.

doi:10.1007/3-540-45468-3_41

Cited by 29 publications

(32 citation statements)

References 8 publications

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“…Ultrasonography is a popular imaging modality for visualizing percutaneous body structures, since it is cheap, non‐invasive, real‐time and with no known long‐term side‐effects. Megali et al (52) describe one of the earliest attempts to guide a robot using two‐dimensioanl (2D) ultrasound guidance for biopsy procedures. Their system consisted of a manipulator mounted with a biopsy needle at its end‐effector, an ultrsound probe and a 3D localizer.…”

Section: Resultsmentioning

confidence: 99%

Evolution of autonomous and semi‐autonomous robotic surgical systems: a review of the literature

Moustris

Hiridis

Deliparaschos

et al. 2011

Robotics Computer Surgery

257

147

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Section: Resultsmentioning

confidence: 99%

Evolution of autonomous and semi‐autonomous robotic surgical systems: a review of the literature

Moustris

Hiridis

Deliparaschos

et al. 2011

Robotics Computer Surgery

257

147

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show abstract

“…In the platform, an industrial robot (Samsung FARA AT2) has been integrated to provide active surgical assistance and accurate positioning during intervention (27). The robot reference system has been calibrated with the global reference system (given by the optical localization system), so that the robot can be moved along planned trajectories in a closed loop with the surgical navigator.…”

Section: Robot Armmentioning

confidence: 99%

EndoCAS navigator platform: a common platform for computer and robotic assistance in minimally invasive surgery

Megali

Ferrari

Freschi

et al. 2008

Robotics Computer Surgery

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We have successfully developed a system for computer-assisted technologies for use in laparoscopic surgery and demonstrated, by early clinical trials, that the introduction of these technologies in operative laparoscopy, even though they are not yet sufficiently accurate (from an engineering viewpoint) for surgical treatment of intra-abdominal disease, brings added benefits to the execution of interventions by surgeons and hence represents concrete on-going progress in interventional technology.

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“…al. 13 . This system was considered synergistic in that the procedure had both robotic and manual input components.…”

Section: Introductionmentioning

confidence: 99%

Closed-Loop Active Compensation for Needle Deflection and Target Shift During Cooperatively Controlled Robotic Needle Insertion

et al. 2018

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Intra-operative imaging is sometimes available to assist needle biopsy, but typical open-loop insertion does not account for unmodeled needle deflection or target shift. Closed-loop image-guided compensation for deviation from an initial straight-line trajectory through rotational control of an asymmetric tip can reduce targeting error. Incorporating robotic closed-loop control often reduces physician interaction with the patient, but by pairing closed-loop trajectory compensation with hands-on cooperatively controlled insertion, a physician's control of the procedure can be maintained while incorporating benefits of robotic accuracy. A series of needle insertions were performed with a typical 18G needle using closed-loop active compensation under both fully autonomous and user-directed cooperative control. We demonstrated equivalent improvement in accuracy while maintaining physician-in-the-loop control with no statistically significant difference (p > 0.05) in the targeting accuracy between any pair of autonomous or individual cooperative sets, with average targeting accuracy of 3.56 mm. With cooperatively controlled insertions and target shift between 1 and 10 mm introduced upon needle contact, the system was able to effectively compensate up to the point where error approached a maximum curvature governed by bending mechanics. These results show closed-loop active compensation can enhance targeting accuracy, and that the improvement can be maintained under user directed cooperative insertion.

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A Computer-Assisted Robotic Ultrasound-Guided Biopsy System for Video-Assisted Surgery

Cited by 29 publications

References 8 publications

Evolution of autonomous and semi‐autonomous robotic surgical systems: a review of the literature

Evolution of autonomous and semi‐autonomous robotic surgical systems: a review of the literature

EndoCAS navigator platform: a common platform for computer and robotic assistance in minimally invasive surgery

Closed-Loop Active Compensation for Needle Deflection and Target Shift During Cooperatively Controlled Robotic Needle Insertion

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