A Patient-Mounted Robotic Platform for CT-Scan Guided Procedures

Maurin, B.; Bayle, B.; Piccin, Olivier; Gangloff, Jacques; Mathelin, Michel de; Doignon, Christophe; Zanne, Philippe; Gangi, Afshin

doi:10.1109/tbme.2008.919882

Cited by 63 publications

(32 citation statements)

References 22 publications

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“…A general review of robotic systems for image-guided interventions can be found in. 23,24 The systems presented for minimally-invasive needle insertion into abdominal organs include those introduced by Su et al, 25 Kim et al, 26 Kettenbach et al 27 and Maurin et al 28 Several papers have been published on the accuracy of medical robots 27-29 as well as on the comparison between conventional and robotic-assisted medical interventions, 25, 30 yet, integration of a medical robot with an existing soft tissue navigation system to reduce the operator error has -to our knowledge -not yet been investigated.…”

Section: Discussionmentioning

confidence: 99%

Human vs. robot operator error in a needle-based navigation system for percutaneous liver interventions

et al. 2009

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Computed tomography (CT) guided percutaneous punctures of the liver for cancer diagnosis and therapy (e.g. tumor biopsy, radiofrequency ablation) are well-established procedures in clinical routine. One of the main challenges related to these interventions is the accurate placement of the needle within the lesion. Several navigation concepts have been introduced to compensate for organ shift and deformation in real-time, yet, the operator error remains an important factor influencing the overall accuracy of the developed systems. The aim of this study was to investigate whether the operator error and, thus, the overall insertion error of an existing navigation system could be further reduced by replacing the user with the medical robot Robopsy. For this purpose, we performed navigated needle insertions in a static abdominal phantom as well as in a respiratory liver motion simulator and compared the human operator error with the targeting error performed by the robot. According to the results, the Robopsy driven needle insertion system is able to more accurately align the needle and insert it along its axis compared to a human operator. Integration of the robot into the current navigation system could thus improve targeting accuracy in clinical use.

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Section: Discussionmentioning

confidence: 99%

Human vs. robot operator error in a needle-based navigation system for percutaneous liver interventions

et al. 2009

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“…Camarillo et al [3] suggest a classification of the use of robots in surgery based on the level of responsibility and involvement the robot has with the patient during a procedure. In this sense robots that are solely used as an automated positioning system, such as a patient-mounted robotic platform for CT-scan [4] are considered the most passive.…”

Section: Existing Systemsmentioning

confidence: 99%

Bridging the gap between robotic technology and health care

Andrade

Pereira

Walter

et al. 2014

Biomedical Signal Processing and Control

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Although technology and computation power have become more and more present in our daily lives, we have yet to see the same tendency in robotics applied to health care. In this work we focused on the study of four distinct applications of robotic technology to health care, named Robotic Assisted Surgery, Robotics in Rehabilitation, Prosthetics and Companion Robotic Systems. We identified the main roadblocks that are limiting the progress of such applications by an extensive examination of recent reports. Based on the limitations of the practical use of current robotic technology for health care we proposed a general modularization approach for the conception and implementation of specific robotic devices. The main conclusions of this review are: (i) There is a clear need of the adaptation of robotic technology (closed loop) to the user, so that robotics can be widely accepted and used in the context of heath care; (ii) For all studied robotic technologies cost is still prohibitive and limits their wide use. The reduction of costs influences technology acceptability, thus innovation by using cheaper computer systems and sensors are relevant and should be taken into account in the implementation of robotic systems.

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“…CT has been historically the modality of choice for image guided therapy such as in radiotherapy (see CT-on-rails [10] or cone-beam CT [11] associated with linear accelerators) or in surgery, including robotic applications [12]. The drivers were the distortion-free images and the low complexity of the CT systems compared to MRI, also in terms of behavior of electrons/ferromagnetic tools within a magnetic field.…”

Section: Integration Of Mri Into Hybrid Medical Devicesmentioning

confidence: 99%

Magnetic Resonance Imaging will Replace Computer Tomography

Stancanello¹

2012

J Biotechnol Biomaterial

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A Patient-Mounted Robotic Platform for CT-Scan Guided Procedures

Cited by 63 publications

References 22 publications

Human vs. robot operator error in a needle-based navigation system for percutaneous liver interventions

Human vs. robot operator error in a needle-based navigation system for percutaneous liver interventions

Bridging the gap between robotic technology and health care

Magnetic Resonance Imaging will Replace Computer Tomography

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