The goal of this study was to validate the suitability of our robotic system, Navi-Robot, to guide percutaneous needle placement under computed tomography (CT) in order to achieve lower radiation exposure and a shorter procedure. The system consists of a six-degrees-of-freedom self-balanced arm, which allows the physician an accurate needle-insertion. The target and the needle entry points are selected by the surgeon on a desktop computer, that acquires DICOM images from the CT scan, and that, using software developed for this purpose, detects also the position of at least three radio opaque markers placed on the patient, and localized by the robot after CT scan. A first test was performed on a Plexiglas board; the accuracy achieved was measured as the distance between the needle tip and the target. The results of the in vitro experiment showed that the system is able to reach the target with an accuracy of 1.2 mm.
Needle Insertion Test Using Navi-Robot and a CT Scanner
Donnici Mario;Lupinacci Giorgia;Nudo Paola;Perrelli Michele;Danieli Guido
2016-01-01
Abstract
The goal of this study was to validate the suitability of our robotic system, Navi-Robot, to guide percutaneous needle placement under computed tomography (CT) in order to achieve lower radiation exposure and a shorter procedure. The system consists of a six-degrees-of-freedom self-balanced arm, which allows the physician an accurate needle-insertion. The target and the needle entry points are selected by the surgeon on a desktop computer, that acquires DICOM images from the CT scan, and that, using software developed for this purpose, detects also the position of at least three radio opaque markers placed on the patient, and localized by the robot after CT scan. A first test was performed on a Plexiglas board; the accuracy achieved was measured as the distance between the needle tip and the target. The results of the in vitro experiment showed that the system is able to reach the target with an accuracy of 1.2 mm.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
