Development of a robotic FD-CT-guided navigation system for needle placement - preliminary accuracy tests

作者：Tovar Arriaga Saul^*; Tita Ralf; Carlos Pedraza Ortega Jesus; Gorrostieta Efren; Kalender Willi A

来源：International Journal of Medical Robotics and Computer Assisted Surgery, 2011, 7(2): 225-236.

DOI：10.1002/rcs.393

• robotic needle placement
• robot-driven FD-CT
• surgical robotics
• interventional radiology

Background A needle placement system using a serial robot arm for manipulation of biopsy and/or treatment needles is introduced. A method for fast calibration of the robot and the preliminary accuracy tests of the robotic system are presented.
Methods The setup consists of a DLR/KUKA Light Weight Robot III especially designed for safe human/robot interaction mounted on a mobile platform, a robot-driven angiographic C-arm system and a navigation system.
Results Calibration of the robot with the navigation system has a residual error of 0.23 mm (rms) with a standard deviation of +/- 0.1 mm. Needle targeting accuracy with different trajectories was 1.2 mm (rms) with a standard deviation of +/- 0.4 mm.
Conclusions Robot absolute positioning accuracy was reduced to the navigation camera accuracy. The approach includes control strategies that may be very useful for interventional applications.

• 出版日期2011-6
• 单位河北医科大学