Automatic planning of needle placement for robot-assisted percutaneous procedures

Belbachir, Esia; Golkar, Ehsan; Bayle, B.; Essert, Caroline

doi:10.1007/s11548-018-1754-2

Cited by 11 publications

(10 citation statements)

References 22 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Considering a normal clinical workflow without interfering guide needles and the need for an evaluation CT, even more than the 89.5 % success rate in completed insertions could be feasible. The reported 3D deviation of 7.19±4.22 mm and a lateral deviation of 5.12±3.39 mm that we report is comparable to similar systems (3D deviation usually ranging from 3 mm to 10 mm [13], [15], [30], [32], [33]). However, there are fundamental differences in the setup and biopsy sampling procedure of these systems that influence needle placement accuracy.…”

Section: Discussionsupporting

confidence: 87%

“…Furthermore, runtime of the system never exceeded 10 s during our evaluation compared to up to 25 s which the system of Ebert et al could need if insertions were not possible with one orientation. Belbachir et al report over 40 s planning time [30]. Reducing the resolution of the CT or grid size of robot feasibility evaluation decreases runtime but may lead to inaccurate heat maps.…”

Section: Discussionmentioning

confidence: 99%

See 1 more Smart Citation

Robotic Tissue Sampling for Safe Post-Mortem Biopsy in Infectious Corpses

Neidhardt

Gerlach

Mieling

et al. 2022

IEEE Trans. Med. Robot. Bionics

View full text Add to dashboard Cite

In pathology and legal medicine, the histopathological and microbiological analysis of tissue samples from infected deceased is a valuable information for developing treatment strategies during a pandemic such as COVID-19. However, a conventional autopsy carries the risk of disease transmission and may be rejected by relatives. We propose minimally invasive biopsy with robot assistance under CT guidance to minimize the risk of disease transmission during tissue sampling and to improve accuracy. A flexible robotic system for biopsy sampling is presented, which is applied to human corpses placed inside protective body bags. An automatic planning and decision system estimates optimal insertion point. Heat maps projected onto the segmented skin visualize the distance and angle of insertions and estimate the minimum cost of a puncture while avoiding bone collisions. Further, we test multiple insertion paths concerning feasibility and collisions. A custom end effector is designed for inserting needles and extracting tissue samples under robotic guidance. Our robotic post-mortem biopsy (RPMB) system is evaluated in a study during the COVID-19 pandemic on 20 corpses and 10 tissue targets, 5 of them being infected with SARS-CoV-2. The mean planning time including robot path planning is 5.72±1.67 s. Mean needle placement accuracy is 7.19±4.22 mm.

show abstract

Section: Discussionsupporting

confidence: 87%

Section: Discussionmentioning

confidence: 99%

Robotic Tissue Sampling for Safe Post-Mortem Biopsy in Infectious Corpses

Neidhardt

Gerlach

Mieling

et al. 2022

IEEE Trans. Med. Robot. Bionics

View full text Add to dashboard Cite

show abstract

“…Previous work in stereotactic automatic planning has been presented for Deep Brain Stimulation (DBS) [16], needle biopsy [17], [18], SEEG [19], [20] and other straight-access neurosurgical interventions [21], [22]. For procedures where only the tip is active (e.g., DBS, needle biopsy, or laser ablation) a common approach is to compute the optimal entry point given the desired target defined by the user.…”

Section: Introductionmentioning

confidence: 99%

“…The reported time was below a minute for 7-12 electrode plans. Regarding alternative path computations, results are displayed with a color-coding directly on the skull surface, similarly to other tools published for DBS [26], needle biopsy [17], [18], and general keyhole neurological interventions [21], [27]- [29].…”

Section: Introductionmentioning

confidence: 99%

Projection-Based Collision Detection Algorithm for Stereoelectroencephalography Electrode Risk Assessment and Re-Planning

et al. 2021

View full text Add to dashboard Cite

Surgical planning is crucial to Stereoelectroencephalography (SEEG), a minimally invasive procedure that requires clinicians to operate with no direct view of the brain. Decisions making involves different clinical specialties and requires analysis of multiple multimodal datasets. We present a DepthMap tool designed to localize, measure, and visualize surgical risk, and an AlternativeFinder tool, designed to search for alternative trajectories maintaining adherence to the initial trajectory with three different replanning strategies: similar entry, similar target, or parallel trajectory. The two tools transform the 3D problem into the 2D domain using projective geometry and distance mapping. Both use the graphics processing unit (GPU) to create a 2D depth image used by DepthMap for measurement and visualization, and by AlternativeFinder to find alternative trajectories. Tools were tested with 12 SEEG cases using digital subtraction angiography. DepthMap was used to measure vessel distance. AlternativeFinder was then used to search for alternatives. Computation time and displacements of the entry and target points for each trajectory and adherence strategy were recorded. The DepthMap tool found vessels in 118 initial trajectories (out of 145). Ninety alternative trajectories were found to meet the required avascular constraints (average 820K alternatives evaluated per initial trajectory). The average computation time was 449 ms per initial trajectory (77 ms when alternatives were found). The tools presented helped clinicians examine and re-plan SEEG trajectories to avoid vascular risks using three adherence strategies. Quantitative measurement of the adherence shows the potential of this tool for clinical use.

show abstract

“…The grid method is also a common method for robot path planning research, and can be combined with a variety of methods to path the robot (Schiavina et al 2018). The researchers carried out a deeper planning on the grid method based on the grid method of the robot motion space, and finally successfully completed the path planning for the soccer robot (Belbachir et al 2018). The neural network method is an iterative solution path planning method.…”

Section: Introductionmentioning

confidence: 99%

Motion path planning of soccer training auxiliary robot based on genetic algorithm in fixed-point rotation environment

Ding

2020

J Ambient Intell Human Comput

View full text Add to dashboard Cite

Soccer training assisted robot system is a combination of robotics and artificial intelligence. Motion path planning is an important part of soccer training assisted robot decision system. Path planning aims to find an optimal path, complete dynamic and static obstacle avoidance, and thus can timely and quickly carry out the path planning of the soccer training assisted robot cooperation strategy. Aiming at the problem of soccer training auxiliary robot motion path planning, this paper proposes a global path planning method based on genetic algorithm, which avoids the problem of unsmooth path and large computation. Under the premise of ensuring the completeness of search, this method transforms the soccer training assisted robot path planning problem into the path search problem of the soccer training assisted robot system center. Under the premise of using the fixed-point rotation method on a large scale, the genetic algorithm is adopted for the case of some special narrow-channel environments, and the action area is determined by simple search. Finally, the planning path of each soccer training-assisted robot in the system is obtained. Finally, the simulation results verify the effectiveness of the algorithm.

show abstract

Automatic planning of needle placement for robot-assisted percutaneous procedures

Abstract: The introduced planning method helped us prove that it is possible to use such a "general purpose" redundant manipulator equipped with a dedicated tool to perform percutaneous interventions in cluttered spaces like a CT gantry.

Cited by 11 publications

References 22 publications

Robotic Tissue Sampling for Safe Post-Mortem Biopsy in Infectious Corpses

Robotic Tissue Sampling for Safe Post-Mortem Biopsy in Infectious Corpses

Projection-Based Collision Detection Algorithm for Stereoelectroencephalography Electrode Risk Assessment and Re-Planning

Motion path planning of soccer training auxiliary robot based on genetic algorithm in fixed-point rotation environment

Contact Info

Product

Resources

About