A patient-mounted robotic platform for CT-scan guided procedures.
In this paper, we present a novel robotic assistant dedicated to medical interventions under computed tomography scan guidance. This compact and lightweight patient-mounted robot is designed so as to fulfill the requirements of most interventional radiology procedures. It is built from an original 5 DOF parallel structure with a semispherical workspace, particularly well suited to CT-scan interventional procedures. The specifications, the design, and the choice of compatible technological solutions are detailed. A preclinical evaluation is presented, with the registration of the robot in the CT-scan.
Laboratoire des Sciences de l'Image, de l'Informatique et de la Télédétection (LSIIT), University of Strasbourg, National Center for Scientific Research (CNRS), and Department of Radiology B, University Hospitals of Strasbourg, France.
Benjamin
B
Maurin
Bernard
B
Bayle
Olivier
O
Piccin
Jacques
J
Gangloff
Michel
M
de Mathelin
Christophe
C
Doignon
Philippe
P
Zanne
Afshin
A
Gangi
D001696:Biomechanical Phenomena; D001707:Biopsy, Needle / Q000295:instrumentation; D004867:Equipment Design; D006801:Humans; D019047:Phantoms, Imaging; D015641:Radiography, Interventional / Q000295:instrumentation*; D012371:Robotics / Q000295:instrumentation*; D013238:Stereotaxic Techniques; D025321:Surgery, Computer-Assisted / Q000295:instrumentation*; D013523:Surgical Equipment; D013679:Technology, Radiologic / Q000295:instrumentation; D014057:Tomography, X-Ray Computed / Q000379:methods*