System for robotically assisted percutaneous procedures with computed tomography guidance

Ken Masamune, Gabor Fichtinger, Alexandru Patriciu, Robert C. Susil, Russell H Taylor, Louis R. Kavoussi, James H. Anderson, Ichiro Sakuma, Takeyoshi Dohi, Dan Stoianovici

Research output: Contribution to journalArticle

Abstract

We present the prototype of an image-guided robotic system for accurate and consistent placement of percutaneous needles in soft-tissue targets under CT guidance inside the gantry of a CT scanner. The couch-mounted system consists of a seven-degrees-of-freedom passive mounting arm, a remote center-of-motion robot, and a motorized needle-insertion device. Single-image-based coregistration of the robot and image space is achieved by stereotactic localization using a miniature version of the BRW head frame built into the radiolucent needle driver. The surgeon plans and controls the intervention in the scanner room on a desktop computer that receives DICOM images from the scanner. The system does not need calibration, employs pure image-based registration, and does not utilize any vendor-specific hardware or software features. In the open air, where there is no needle-tissue interaction, we systematically achieved an accuracy better than 1 mm in hitting targets at 5-8 cm from the fulcrum point. In the phantom, the orientation accuracy was 0.6°, and the distance between the needle tip and the target was 1.04 mm. Experiments indicated that this robotic system is suitable for a variety of percutaneous clinical applications.

Original languageEnglish (US)
Pages (from-to)370-383
Number of pages14
JournalComputer Aided Surgery
Volume6
Issue number6
DOIs
StatePublished - 2001

Fingerprint

Needles
Tomography
Robotics
Head frames
Robots
Tissue
Digital Imaging and Communications in Medicine (DICOM)
Mountings
Personal computers
Calibration
Arm
Software
Air
Head
Hardware
Equipment and Supplies
Experiments

Keywords

  • CT guidance
  • Image-guided surgery
  • Percutaneous needle placement
  • Surgical robotics

ASJC Scopus subject areas

  • Radiology Nuclear Medicine and imaging
  • Surgery
  • Medicine (miscellaneous)

Cite this

System for robotically assisted percutaneous procedures with computed tomography guidance. / Masamune, Ken; Fichtinger, Gabor; Patriciu, Alexandru; Susil, Robert C.; Taylor, Russell H; Kavoussi, Louis R.; Anderson, James H.; Sakuma, Ichiro; Dohi, Takeyoshi; Stoianovici, Dan.

In: Computer Aided Surgery, Vol. 6, No. 6, 2001, p. 370-383.

Research output: Contribution to journalArticle

Masamune, K, Fichtinger, G, Patriciu, A, Susil, RC, Taylor, RH, Kavoussi, LR, Anderson, JH, Sakuma, I, Dohi, T & Stoianovici, D 2001, 'System for robotically assisted percutaneous procedures with computed tomography guidance', Computer Aided Surgery, vol. 6, no. 6, pp. 370-383. https://doi.org/10.1002/igs.10024
Masamune, Ken ; Fichtinger, Gabor ; Patriciu, Alexandru ; Susil, Robert C. ; Taylor, Russell H ; Kavoussi, Louis R. ; Anderson, James H. ; Sakuma, Ichiro ; Dohi, Takeyoshi ; Stoianovici, Dan. / System for robotically assisted percutaneous procedures with computed tomography guidance. In: Computer Aided Surgery. 2001 ; Vol. 6, No. 6. pp. 370-383.
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