title: Accuracy and speed of robotic assisted needle interventions using a modern cone beam computed tomography intervention suite: a phantom study.
abstract: OBJECTIVE
  To analyse the feasibility and accuracy of robotic aided interventions on a phantom when using a modern C-arm-mounted cone beam computed tomography (CBCT) device in combination with needle guidance software.
  
  
  METHODS
  A small robotic device capable of holding and guiding needles was attached to the intervention table. After acquiring a 3D data set the access path was planned on the CBCT workstation and shown on the intervention monitor. Then the robot was aligned to the live fluorosopic image. A total of 40 punctures were randomly conducted on a phantom armed with several targets (diameter 2 mm) in single and double oblique trajectory (n = 20 each). Target distance, needle deviation and time for the procedures were analysed.
  
  
  RESULTS
  All phantom interventions (n = 40) could be performed successfully. Mean target access path within the phantom was 8.5 cm (min 4.2 cm, max 13.5 cm). Average needle tip deviation was 1.1 mm (min 0 mm, max 4.5 mm), time duration was 3:59 min (min 2:07 min, max 10:37 min).
  
  
  CONCLUSIONS
  When using the proposed robot device in a CBCT intervention suite, highly accurate needle-based interventional punctures are possible in a reasonable timely manner in single as well as in double oblique trajectories.
authors: Institute for Diagnostic and Interventional Radiology, Goethe University Hospital, Theodor-Stern-Kai 7, 60590, Frankfurt, Germany. boris.schell@googlemail.com
authors: Boris
authors: B
authors: Schulz
authors: Katrin
authors: K
authors: Eichler
authors: Petra
authors: P
authors: Siebenhandl
authors: Tatjana
authors: T
authors: Gruber-Rouh
authors: Christoph
authors: C
authors: Czerny
authors: Thomas Josef
authors: TJ
authors: Vogl
authors: Stephan
authors: S
authors: Zangos
mesh_terms: D001707:Biopsy, Needle / Q000295:instrumentation*; D054893:Cone-Beam Computed Tomography; D004867:Equipment Design; D005240:Feasibility Studies; D006801:Humans; D021621:Imaging, Three-Dimensional; D019047:Phantoms, Imaging; D011677:Punctures; D015641:Radiography, Interventional; D012371:Robotics; D012984:Software; D018709:Statistics, Nonparametric