title: An ultrasound-driven needle-insertion robot for percutaneous cholecystostomy.
abstract: A real-time ultrasound-guided needle-insertion medical robot for percutaneous cholecystostomy has been developed. Image-guided interventions have become widely accepted because they are consistent with minimal invasiveness. However, organ or abnormality displacement due to involuntary patient motion may undesirably affect the intervention. The proposed instrument uses intraoperative images and modifies the needle path in real time by using a novel ultrasonic image segmentation technique. In phantom and volunteer experiments, the needle path updating time was 130 and 301 ms per cycle, respectively. In animal experiments, the needle could be placed accurately in the target.
authors.affiliation: Department of Mechano-Informatics, Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan.
authors.forename: J
authors.initials: J
authors.lastname: Hong
authors.forename: T
authors.initials: T
authors.lastname: Dohi
authors.forename: M
authors.initials: M
authors.lastname: Hashizume
authors.forename: K
authors.initials: K
authors.lastname: Konishi
authors.forename: N
authors.initials: N
authors.lastname: Hata
mesh_terms: D000818:Animals; D001185:Artificial Intelligence; D002763:Cholecystectomy / Q000295:instrumentation / Q000379:methods*; D004322:Drainage / Q000295:instrumentation* / Q000379:methods; D019544:Equipment Failure Analysis; D005246:Feedback; D005704:Gallbladder / Q000000981:diagnostic imaging* / Q000601:surgery*; D006801:Humans; D007090:Image Interpretation, Computer-Assisted / Q000379:methods*; D008297:Male; D009038:Motion; D009068:Movement; D019047:Phantoms, Imaging; D012371:Robotics / Q000295:instrumentation* / Q000379:methods; D013552:Swine; D018084:Ultrasonography, Interventional / Q000295:instrumentation / Q000379:methods