Mario Donnici, Giorgia Lupinacci, Paola Nudo, Michele Perrelli, Guido Danieli
Surgical Robots, Biopsy Needle Insertion, CT Images
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.
Cite this paper
Mario Donnici, Giorgia Lupinacci, Paola Nudo, Michele Perrelli, Guido Danieli. (2016) Needle Insertion Test Using Navi-Robot and a CT Scanner. International Journal of Biology and Biomedicine, 1, 54-59