A Patient-Mounted Robotic Platform for CT-Scan Guided Procedures

Author

Maurin, Benjamin ; Bayle, Bernard ; Piccin, Olivier ; Gangloff, Jacques ; de Mathelin, Michel ; Doignon, Christophe ; Zanne, Philippe ; Gangi, Afshin

Author_Institution

Nat. Center for Sci. Res., Univ. of Strasbourg, Strasbourg

Volume

55

Issue

10

fYear

2008

Firstpage

2417

Lastpage

2425

Abstract

In this paper, we present a novel robotic assistant dedicated to medical interventions under computed tomography scan guidance. This compact and lightweight patient-mounted robot is designed so as to fulfill the requirements of most interventional radiology procedures. It is built from an original 5 DOF parallel structure with a semispherical workspace, particularly well suited to CT-scan interventional procedures. The specifications, the design, and the choice of compatible technological solutions are detailed. A preclinical evaluation is presented, with the registration of the robot in the CT-scan.

Keywords

computerised tomography; image registration; medical image processing; medical robotics; CT-scan guided procedure; computed tomography; image registration; interventional radiology; medical intervention; medical robotics; patient-mounted robotic platform; preclinical evaluation; robotic assistant; semispherical workspace; Abdomen; Biomedical imaging; Computed tomography; Medical robotics; Minimally invasive surgery; Needles; Radiology; Safety; Service robots; Ultrasonic imaging; Interventional radiology; medical robotics; Biomechanics; Biopsy, Needle; Equipment Design; Humans; Phantoms, Imaging; Radiography, Interventional; Robotics; Stereotaxic Techniques; Surgery, Computer-Assisted; Surgical Equipment; Technology, Radiologic; Tomography, X-Ray Computed;

fLanguage

English

Journal_Title

Biomedical Engineering, IEEE Transactions on

Publisher

ieee

ISSN

0018-9294

Type

jour

DOI

10.1109/TBME.2008.919882

Filename

4637992