Log In Sign Up

An Open-Source 7-Axis, Robotic Platform to Enable Dexterous Procedures within CT Scanners

by   Dimitri A. Schreiber, et al.

This paper describes the design, manufacture, and performance of a highly dexterous, low-profile, 7 Degree-of-Freedom (DOF) robotic arm for CT-guided percutaneous needle biopsy. Direct CT guidance allows physicians to localize tumours quickly; however, needle insertion is still performed by hand. This system is mounted to a fully active gantry superior to the patient's head and teleoperated by a radiologist. Unlike other similar robots, this robot's fully serial-link approach uses a unique combination of belt and cable drives for high-transparency and minimal-backlash, allowing for an expansive working area and numerous approach angles to targets all while maintaining a small in-bore cross-section of less than 16cm^2. Simulations verified the system's expansive collision free work-space and ability to hit targets across the entire chest, as required for lung cancer biopsy. Targeting error is on average <1mm on a teleoperated accuracy task, illustrating the system's sufficient accuracy to perform biopsy procedures. The system is designed for lung biopsies due to the large working volume that is required for reaching peripheral lung lesions, though, with its large working volume and small in-bore cross-sectional area, the robotic system is effectively a general-purpose CT-compatible manipulation device for percutaneous procedures. Finally, with the considerable development time undertaken in designing a precise and flexible-use system and with the desire to reduce the burden of other researchers in developing algorithms for image-guided surgery, this system provides open-access, and to the best of our knowledge, is the first open-hardware image-guided biopsy robot of its kind.


page 1

page 4

page 5

page 6

page 7


CRANE: a 10 Degree-of-Freedom, Tele-surgical System for Dexterous Manipulation within Imaging Bores

Physicians perform minimally invasive percutaneous procedures under Comp...

CRANE: A highly dexterous needle placement robot for evaluation of interventional radiology procedures

Interventional Radiology (IR) enables earlier diagnosis and less invasiv...

Analyse du besoin en assistance robotique dans la chirurgie de l'oreille

Otologic surgery has some specificities compared to others surgeries. Th...

Deep Learning for Localization in the Lung

Lung cancer is the leading cause of cancer-related death worldwide, and ...

SlicerPET: A workflow based software module for PET/CT guided needle biopsy

Biopsy is commonly used to confirm cancer diagnosis when radiologically ...

Volume Calculation of CT lung Lesions based on Halton Low-discrepancy Sequences

Volume calculation from the Computed Tomography (CT) lung lesions data i...

Robotic Electrospinning Actuated by Non-Circular Joint Continuum Manipulator for Endoluminal Therapy

Electrospinning has exhibited excellent benefits to treat the trauma for...