Title :
Light Puncture Robot for CT and MRI Interventions
Author :
Bricault, Ivan ; Zemiti, Nabil ; Jouniaux, Emilie ; Fouard, Céline ; Taillant, Elise ; Dorandeu, Frederic ; Cinquin, Philippe
Abstract :
The new robot named light puncture robot (LPR), has an original compact body-supported architecture, which is naturally able to follow the patient´s body surface respiratory movements for abdominal and thoracic percutaneous procedures, which is compatible with CT, open MRI, and closed MRI. It is entirely made of plastic and uses MR-compatible pneumatic actuators powered by compressed air. It is localized via an image-based control using a localization device that is totally integrated to the robot. The physician is also included in the control loop, since he/she selects the target and the entry point and supervises the whole process.
Keywords :
biomedical MRI; computerised tomography; medical robotics; pneumatic actuators; surgery; CT interventions; MR-compatible pneumatic actuators; MRI interventions; abdominal percutaneous procedures; compact body-supported architecture; compressed air; image-based control; light puncture robot; localization device; patient body surface respiratory movements; thoracic percutaneous procedures; Boring; Computed tomography; Magnetic resonance imaging; Medical robotics; Minimally invasive surgery; Needles; Neoplasms; Orbital robotics; Radiology; Robots; Abdomen; Equipment Design; Equipment Failure Analysis; Magnetic Resonance Imaging, Interventional; Punctures; Radiography, Interventional; Robotics; Thoracic Surgery;
Journal_Title :
Engineering in Medicine and Biology Magazine, IEEE
DOI :
10.1109/EMB.2007.910262
