Abstract:
PURPOSE:We sought to develop a robotic system for computed tomography (CT)-guided biopsy to validate the feasibility, accuracy, and efficacy of the system using phantom tests. MATERIALS AND METHODS:Ten peas (mean diameter 9.9+/-0.4 mm) embedded within a gel phantom were selected for biopsy. Once the best access was defined on CT images, the position of the phantom was recorded by an optical tracking system. Positional data about the phantom and the corresponding CT image was transferred to the robot planning system (Linux-based industrial PC equipped with video capture card). Once the appropriate position, angulation, and pitch were calculated, the robotic arm moved automatically with 7 degrees-of-freedom to the planned insertion path, aiming the needle-trajectory at the center of the target. Then, the biopsy was performed manually using a coaxial technique. The length of all harvested specimens was measured and short cut pieces of a guidewire were pushed into the target to evaluate the deviation of the actual needle track from the target. RESULTS:In all targets, biopsy specimens (mean length 5.6+/-1.4 mm) were harvested with only 1 needle pass required. The mean deviation of the needle tip from the center of the target in the x and z axes was 1.2+/-0.9 mm and 0.6+/-0.4 mm, respectively. CONCLUSIONS:Robotic-assisted biopsies in vitro, using CT guidance, were feasible and provided high accuracy.
journal_name
Invest Radioljournal_title
Investigative radiologyauthors
Kettenbach J,Kronreif G,Figl M,Fürst M,Birkfellner W,Hanel R,Ptacek W,Bergmann Hdoi
10.1097/01.rli.0000155285.05672.cfkeywords:
subject
Has Abstractpub_date
2005-04-01 00:00:00pages
219-28issue
4eissn
0020-9996issn
1536-0210pii
00004424-200504000-00005journal_volume
40pub_type
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journal_title:Investigative radiology
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journal_title:Investigative radiology
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