Title :
Design of a small animal biopsy robot
Author :
Bebek, Ozkan ; Hwang, Myun Joong ; Fei, Baowei ; Cavusoglu, M. Cenk
Author_Institution :
Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, Ohio, 44106, USA
Abstract :
Small animals are widely used in biomedical research studies. They have compact anatomy and small organs. Therefore it is difficult to perceive tumors or cells and perform biopsies manually. Robotics technology offers a convenient and reliable solution for accurate needle insertion. In this paper, a novel 5 degrees of freedom (DOF) robot design for inserting needles into small animal subjects is proposed. The design has a compact size, is light weight, and has high resolution. Parallel mechanisms are used in the design for stable and reliable operation. The proposed robot has two gimbal joints that carry the needle mechanism. The robot can realize dexterous alignment of the needle before insertion.
Keywords :
Anatomy; Animal structures; Biopsy; Diseases; Needles; Neoplasms; Positron emission tomography; Robot sensing systems; Robotics and automation; Ultrasonic imaging; Biopsy; Equipment Design; Equipment Failure Analysis; Needles; Reproducibility of Results; Robotics; Sensitivity and Specificity; Surgery, Computer-Assisted;
Conference_Titel :
Engineering in Medicine and Biology Society, 2008. EMBS 2008. 30th Annual International Conference of the IEEE
Conference_Location :
Vancouver, BC
Print_ISBN :
978-1-4244-1814-5
Electronic_ISBN :
1557-170X
DOI :
10.1109/IEMBS.2008.4650484
