Observations And Experiments For The Definition Of A New Robotic Device Dedicated To CT, CBCT And MRI-Guided Percutaneous Procedures

Pfeil, Antoine; Barbé, Laurent; Wach, Benoit; Cazzato, Roberto Luigi; Gangi, Afshin; Renaud, Pierre

doi:10.1109/embc.2018.8512682

Cited by 6 publications

(10 citation statements)

References 18 publications

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“…The component we develop is dedicated to imageguided procedures. In interventional radiology, physicians perform needle insertion in a patient body to sample tissues for diagnostic [17]. When X-ray based imaging device is used to guide the insertion, the presence of ionising radiations represents a safety concern for the physician.…”

Section: Clinical Requirements and Intended Usementioning

confidence: 99%

Development of models for additively manufactured actuators using compliant Wren mechanism

Rubbert

Schuler

Gayral

et al. 2021

Precision Engineering

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Compliant Wren mechanisms (CWM) constitute specific compliant structures of particular interest. Derived from Wren mechanisms, they can exhibit a large variety of motions, from quasi translation to quasi rotation. In this paper, the development of models for the analysis and synthesis of CWM is considered. A kinematic model is introduced first to assess all possible motions when used as an actuator. Then the static model and stress expressions are derived to help their design. These derivations are achieved for two types of geometries, corresponding to the geometries of interest. CWM are filigree structures, whose manufacturing is difficult to consider without additive manufacturing. A specific work on their production using selective laser melting (SLM) is then achieved to ensure the reliability of their production. As a proof of concept, a pneumatically actuated component is then developed and tested. It is composed of two CWM of different geometries. It offers the possibility to obtain translation and rotation using a single pressure input. The developed models are investigated using finite element models and experiments using additively manufactured structures.

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Section: Clinical Requirements and Intended Usementioning

confidence: 99%

Development of models for additively manufactured actuators using compliant Wren mechanism

Rubbert

Schuler

Gayral

et al. 2021

Precision Engineering

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“…11) and reducing radiation exposure. [74][75][76] Detection of staff in the interventional suite is useful to enhance safety of various interactions between team members, radiation monitoring, infection control analysis, and compliance with the World Health Organization surgical checklists that can now be performed and anonymized for auditing through AI-enabled technologies. [77][78][79] • Software-based augmented needle guidance: Softwarebased augmented needle guidance, including three-dimensional correlation and virtual augmented reality superimposing the original outline of a lesion over fluoroscopy imaging, as well as simulation software training, can enhance training and shorten planning time, 44,80 improving stereotactic orientation (►Fig.…”

Section: Future Directionsmentioning

confidence: 99%

Interventional Techniques for Bone and Musculoskeletal Soft Tissue Tumors: Current Practices and Future Directions – Part II. Stabilization

Dalili

Isaac

Cazzato

et al. 2020

Semin Musculoskelet Radiol

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Percutaneous image-guided oncologic interventions have rapidly evolved over the last two decades as an independent strategy or used within a first-, second-, or even third-line strategy in the treatment of musculoskeletal (MSK) tumors. Abundant mostly nonrandomized publications have described the safety, efficacy, and reproducibility of implementing percutaneous therapies both with curative and palliative intent. In this article, we continue to share our experience in bone and MSK soft tissue interventions focusing on stabilization and combined ablation and stabilization. We propose a pathway and explore future directions of image-guided interventional oncology related to skeletal disease. We reflect on the advantages and limitations of each technique and offer guidance and pearls to improve outcomes. Representing patterns from our practices, we demonstrate the role of collaborative working within a multidisciplinary team, ideally within a dedicated tumor treatment center, to deliver patient-specific therapy plans that are value based and favored by patients when given the choice.

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“…63,64 Currently, as this technology is brought to market, these robot functionalities and techniques are being refined and incorporated into workflow. 14,61,65 Emerging Developments in Precision Medicine…”

Section: Robotic-assisted Mr-guided Interventionmentioning

confidence: 99%

Lung and Abdominal Biopsies in the Age of Precision Medicine

Dalag

Fergus

Zangan

2019

Semin intervent Radiol

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Image-guided percutaneous needle biopsies (PNBs) are one of the most common procedures performed in radiology departments today. Rapid developments in precision medicine, which identifies molecular and genomic biomarkers in cancers, have ushered a new paradigm of oncologic workup and treatment. PNB has conventionally been used to establish a benign or malignant nature of a lesion during initial diagnosis or in suspected metastatic or recurrent disease. However, increasing amounts of tissue are being required to meet the demands of molecular pathologic analysis, which are now being sought at multiple time points during the course of the disease to guide targeted therapy. As primary providers of biopsy, radiologists must be proactive in these developments to improve diagnostic yield and tissue acquisition in PNB. Herein, we discuss the important and expanding role of PNB in the age of precision medicine and review the technical considerations of percutaneous lung and intra-abdominal biopsy. Finally, we examine promising state-of-the-art techniques in PNB that may safely increase tissue acquisition for optimal molecular pathologic analysis.

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Observations And Experiments For The Definition Of A New Robotic Device Dedicated To CT, CBCT And MRI-Guided Percutaneous Procedures

Cited by 6 publications

References 18 publications

Development of models for additively manufactured actuators using compliant Wren mechanism

Development of models for additively manufactured actuators using compliant Wren mechanism

Interventional Techniques for Bone and Musculoskeletal Soft Tissue Tumors: Current Practices and Future Directions – Part II. Stabilization

Lung and Abdominal Biopsies in the Age of Precision Medicine

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