A Novel Manipulator for Percutaneous Needle Insertion: Design and Experimentation

Bassan, H.; Patel, Rajni V.; Moallem, M.

doi:10.1109/tmech.2009.2011357

Cited by 69 publications

(33 citation statements)

References 35 publications

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“…Fichtinger et al developed a puncture-assist robot with ultrasound guidance for use during procedures involving the prostate gland [9], whereas Boctor et al developed a computerassisted radiofrequency ablation (RFA) system that tracks an ultrasound probe supported by a passive mechanical arm when performing RFA using 3D ultrasound images [10]. Bassan et al designed robotic systems for percutaneous procedures during prostate brachytherapy [11]. The authors of the current paper also developed a robotic system with an integrated ultrasound probe designed for use during needle insertion [12,13], as well as a punctureassist robot that supports MRI [14].…”

Section: Related Researchmentioning

confidence: 99%

Preliminary in vivo evaluation of a needle insertion manipulator for central venous catheterization

et al. 2014

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Central venous catheterization is associated with potential complications secondary to accidental puncture, including venous bleeding and pneumothorax. We developed a system that avoids these complications and simplifies the procedure using a robot to provide puncture assistance. We herein report a puncture experiment conducted in vivo in a porcine to evaluate the manipulator. The right and left jugular veins of a pig were punctured five times each through both opened and unopened skin at a puncture angle and speed. A venous placement rate of 80% was obtained with opened skin. A much lower rate of 40% was obtained with unopened skin. One of five attempts in opened skin was unsuccessful, likely because of the stick-slip phenomenon. This system was effective for jugular venous puncture of opened skin. Future studies should focus on puncture conditions that facilitate needle placement, inhibit the stick-slip phenomenon, and minimize needle bending due to the presence of skin.

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Section: Related Researchmentioning

confidence: 99%

Preliminary in vivo evaluation of a needle insertion manipulator for central venous catheterization

et al. 2014

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“…For example, Bassan et al reported a novel five-degrees-offreedom manipulator for percutaneous needle insertion [6]. A puncture-assisting robot operating under US guidance for use during procedures involving the prostate gland has also been developed [7].…”

Section: Related Researchmentioning

confidence: 99%

Preloading based needle insertion with a concave probe to enhance targeting in breast tissue

et al. 2014

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Target displacement cased by tissue deformation is a major technical challenge in ultrasound-guided needle insertion for breast tumor treatment or biopsy. We previously developed a preloading-based needle insertion method, which consists of a preloading phase and an insertion phase, and validated its placement accuracy. The present study furthered this research by focusing on a new concave preloading probe to enhance needle insertion targeting. With this probe, we evaluated the several probe size for different tumor diameters and locations to investigate the geometry effect on insertion accuracy. In this in vitro study, preloading-based needle insertion with concave probe of the same diameter as that of the tumor showed the highest placement accuracy for shallow tumors, while concave probe of a larger diameter than that of the tumor showed the highest placement accuracy for deep tumors. Overall, the concave preloading probe described in this study decreased needle placement error. Future research focused on its evaluation by structural analysis based on soft tissue modelling and deformation simulation.

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“…Currently the most common usage of brachytherapy is in the treatment of prostate cancer and hence many of the developments have focused on this area. The contributions found in the literature can be summarized as follows: control of the relative motion between the hollow needle and the plunger [93]; accurate positioning and orienting of the needle prior to penetration [94][95][96]; drivers for needle penetration [37,96,97]; real-time image guidance during needle insertion [85,[94][95][96][97][98]; force feedback during needle insertion [96][97][98][99]; and tissue motion compensation [100][101][102][103]. However, none of these devices is currently available on the market due to their complexity and lack of regulatory approval for clinical use.…”

Section: Brachytherapy Seed Delivery Systemmentioning

confidence: 99%

Lung Cancer Brachytherapy: Robotics-Assisted Minimally Invasive Approach

Yu¹,

Lewis²,

Trejos³

et al. 2011

CRMR

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New technological concepts have been evolving to manage the relative poor prognosis of lung cancer. Brachytherapy is becoming an option for both unresectable and early resectable lung cancer. Three-dimensional ultrasound (US) of lung tumours and image-guided minimally invasive robotics-assisted brachytherapy are feasible for dosimetry planning and management of lung tumours. The present article reviews the current knowledge of lung brachytherapy and discusses its potential in future management of lung cancer.

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A Novel Manipulator for Percutaneous Needle Insertion: Design and Experimentation

Cited by 69 publications

References 35 publications

Preliminary in vivo evaluation of a needle insertion manipulator for central venous catheterization

Preliminary in vivo evaluation of a needle insertion manipulator for central venous catheterization

Preloading based needle insertion with a concave probe to enhance targeting in breast tissue

Lung Cancer Brachytherapy: Robotics-Assisted Minimally Invasive Approach

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