Title :
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
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;
Journal_Title :
Biomedical Engineering, IEEE Transactions on
DOI :
10.1109/TBME.2008.919882
