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.
Maurin
Benjamin
B
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.
Bayle
Bernard
B
Piccin
Olivier
O
Gangloff
Jacques
J
de Mathelin
Michel
M
Doignon
Christophe
C
Zanne
Philippe
P
Gangi
Afshin
A
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*