Design, calibration and evaluation of a robotic needle-positioning system for small animal imaging applications

Abstract

A needle-positioning robot has been developed for image-guided interventions in small animal research models. The device is designed to position a needle with an error < or =100 microm. The robot has two rotational axes (pitch and roll) to control needle orientation, and one linear axis to perform needle insertion. The three axes intersect at a single point to create a remote centre of motion (RCM) that acts as a fulcrum for the orientation of the needle. The RCM corresponds to the skin-entry point of the needle into the animal. The robot was calibrated to ensure that the three axes intersected at a single point defining an RCM and that the needle tip was positioned at the RCM. Needle-positioning accuracy and precision were quantified in Cartesian coordinates at ten target locations in the plane of each rotational axis. The measured needle-positioning accuracy in free space was 54 +/- 12 microm for the pitch axis plane and 91 +/- 21 microm for the roll axis plane. The measured needle-positioning precision was 15 and 17 microm for the pitch and roll axes planes, respectively. The robot's ability to insert a needle into a tumour in a euthanized mouse was demonstrated.

Co-registration of a needle-positioning device with a volumetric x-ray micro-computed tomography scanner for image-guided preclinical interventions

“…The robot can translate the needle along linear trajectories from the RCM. The mean positioning error of the robot in free space is about 100 μm [4]. A photograph of the needlepositioning robot coupled to the intervention platform mounted on the VCT is shown in Fig.…”

“…A 27G, 0.5 in needle and a 1 mL syringe was attached to the robot, and the robot was calibrated as outlined by Waspe et al [4]. The syringe was connected by laboratory tubing to a programmable syringe pump (model NE-1000, New Era Pump Systems, Inc., Wantagh, NY, USA) and lled with barium sulfate.…”

“…Considering that the ducial and target needle tracks are produced by physically moving the needle to a set of coordinates and that the robot positioning error is deterministic and is on the order of 100 μm [4], a large component of the registration error is likely due to robot positioning error. The positioning error is evident in Fig.…”

“…In order to target small cavities and vessels in mice accurately, the needle positioning error needs to be < 200 μm [4]. If targeting is inaccurate, experimental results can be inconclusive or misleading, thus increasing the number of animals, the duration, and the cost of a study.…”

Automatic Puncture System Based on NIR Image and Ultrasonic Image

“…In 2006, Western University successfully developed an automatic puncture device using ultrasound guidance similar to the PICC, however, different from the PICC, this system used machine instead of manpower to insert a needle. [10]In 2013, Rutgers University successfully developed a Nearinfrared(NIR) and ultrasound-based automatic venipuncture system, which allows the puncture needle into the blood vessels automatically, [11]and in 2015 a comprehensive upgrade of the system has been realized. [12] 2 System design Venipuncture in this paper is not only aimed to collect blood samples, but also aimed to administrate intravenous infusion.…”