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Robot-assisted biopsy using ultrasound guidance: initial results from in vitro tests.

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Title: Robot-assisted biopsy using ultrasound guidance: initial results from in vitro tests.
Authors: Kettenbach, Joachim1 joachim.kettenbach@univie.ac.at, Kronreif, Gernot2, Figl, Michael3, Fürst, Martin2, Birkfellner, Wolfgang3, Hanel, Rudolf3, Bergmann, Helmar3, Fürst, Martin (AUTHOR)
Source: European Radiology. Apr2005, Vol. 15 Issue 4, p765-771. 7p.
Subjects: Biopsy, Diagnostic specimens, Interventional radiology, Operative ultrasonography, Ultrasonics in surgery, Diagnostic ultrasonic imaging, Comparative studies, Research methodology, Medical cooperation, Research, Research evaluation, Robotics, Ultrasonic imaging, Pilot projects, Product design, Evaluation research, Equipment & supplies
Abstract: The purpose of this study was to develop a robotic system for ultrasound (US)-guided biopsy and to validate the feasibility, accuracy and efficacy using phantom tests. Twenty peas (mean diameter 9.3+/-0.1 mm) embedded within a gel-phantom were selected for biopsy. Once the best access was defined, the position of the US transducer was recorded by an optical tracking system. Positional data of the transducer and the corresponding US image were transferred to the roboter planning system (LINUX-based industrial PC equipped with video capture card). Once the appropriate position, angulation and pitch were calculated, the robotic arm moved automatically with seven degrees-of-freedom to the planned insertion path, aiming the needle-positioning unit at the center of the target. Then, the biopsy was performed manually using a coaxial technique. The length of all harvested specimens was measured, and the deviation of the actual needle tract from the center of the target was evaluated sonographically. In all targets, the biopsy specimen (mean length 5+/-1.2 mm) was harvested with only one needle pass required The mean deviation of the needle tip from the center of the target was 1.1+/-0.8 mm. Robotic assisted biopsies in-vitro using US-guidance were feasible and provided high accuracy. [ABSTRACT FROM AUTHOR]
Copyright of European Radiology is the property of Springer Nature and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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  Data: Robot-assisted biopsy using ultrasound guidance: initial results from in vitro tests.
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  Data: <searchLink fieldCode="AR" term="%22Kettenbach%2C+Joachim%22">Kettenbach, Joachim</searchLink><relatesTo>1</relatesTo><i> joachim.kettenbach@univie.ac.at</i><br /><searchLink fieldCode="AR" term="%22Kronreif%2C+Gernot%22">Kronreif, Gernot</searchLink><relatesTo>2</relatesTo><br /><searchLink fieldCode="AR" term="%22Figl%2C+Michael%22">Figl, Michael</searchLink><relatesTo>3</relatesTo><br /><searchLink fieldCode="AR" term="%22Fürst%2C+Martin%22">Fürst, Martin</searchLink><relatesTo>2</relatesTo><br /><searchLink fieldCode="AR" term="%22Birkfellner%2C+Wolfgang%22">Birkfellner, Wolfgang</searchLink><relatesTo>3</relatesTo><br /><searchLink fieldCode="AR" term="%22Hanel%2C+Rudolf%22">Hanel, Rudolf</searchLink><relatesTo>3</relatesTo><br /><searchLink fieldCode="AR" term="%22Bergmann%2C+Helmar%22">Bergmann, Helmar</searchLink><relatesTo>3</relatesTo><br /><searchLink fieldCode="AR" term="%22Fürst%2C+Martin%22">Fürst, Martin</searchLink> (AUTHOR)
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  Data: <searchLink fieldCode="JN" term="%22European+Radiology%22">European Radiology</searchLink>. Apr2005, Vol. 15 Issue 4, p765-771. 7p.
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  Data: The purpose of this study was to develop a robotic system for ultrasound (US)-guided biopsy and to validate the feasibility, accuracy and efficacy using phantom tests. Twenty peas (mean diameter 9.3+/-0.1 mm) embedded within a gel-phantom were selected for biopsy. Once the best access was defined, the position of the US transducer was recorded by an optical tracking system. Positional data of the transducer and the corresponding US image were transferred to the roboter planning system (LINUX-based industrial PC equipped with video capture card). Once the appropriate position, angulation and pitch were calculated, the robotic arm moved automatically with seven degrees-of-freedom to the planned insertion path, aiming the needle-positioning unit at the center of the target. Then, the biopsy was performed manually using a coaxial technique. The length of all harvested specimens was measured, and the deviation of the actual needle tract from the center of the target was evaluated sonographically. In all targets, the biopsy specimen (mean length 5+/-1.2 mm) was harvested with only one needle pass required The mean deviation of the needle tip from the center of the target was 1.1+/-0.8 mm. Robotic assisted biopsies in-vitro using US-guidance were feasible and provided high accuracy. [ABSTRACT FROM AUTHOR]
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  Data: <i>Copyright of European Radiology is the property of Springer Nature and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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        Value: 10.1007/s00330-004-2487-x
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      – SubjectFull: Biopsy
        Type: general
      – SubjectFull: Diagnostic specimens
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      – SubjectFull: Interventional radiology
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              Text: Apr2005
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