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Accuracy and speed of robotic assisted needle interventions using a modern cone beam computed tomography intervention suite: a phantom study.

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Title: Accuracy and speed of robotic assisted needle interventions using a modern cone beam computed tomography intervention suite: a phantom study.
Authors: Schulz B (AUTHOR), Eichler K (AUTHOR), Siebenhandl P (AUTHOR), Gruber-Rouh T (AUTHOR), Czerny C (AUTHOR), Vogl TJ (AUTHOR), Zangos S (AUTHOR), Schulz, Boris1 (AUTHOR), Eichler, Katrin (AUTHOR), Siebenhandl, Petra (AUTHOR), Gruber-Rouh, Tatjana (AUTHOR), Czerny, Christoph (AUTHOR), Vogl, Thomas Josef (AUTHOR), Zangos, Stephan (AUTHOR)
Source: European Radiology. Jan2013, Vol. 23 Issue 1, p198-204. 7p.
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).Conclusion: 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. [ABSTRACT FROM AUTHOR]
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Abstract:<bold>Objective: </bold>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.<bold>Methods: </bold>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.<bold>Results: </bold>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).<bold>Conclusion: </bold>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. [ABSTRACT FROM AUTHOR]
ISSN:09387994
DOI:10.1007/s00330-012-2585-0