Observations And Experiments For The Definition Of A New Robotic Device Dedicated To CT, CBCT And MRI-Guided Percutaneous Procedures

In this paper, we present the work achieved to define the robotic functionalities of interest for percutaneous procedures as performed in interventional radiology. Our contributions are twofold. First, a detailed task analysis is performed with workflow analysis of biopsies, one of the most frequent tasks, under three imaging modalities, namely CT, CBCT and MRI. Second, the functionalities of a robotic assistant are identified, and we analyze whether a single device can bring an added value during procedures in the three modalities while keeping the robotized workflow close to manual tasks, to minimize learning time and difficulty of use. Experimental analysis on CBCT is notably used to confirm the interest of the determined robotic functionalities.

[1]  Filip Banovac,et al.  Procedural Impact of a Dedicated Interventional Oncology Service Line in a National Cancer Institute Comprehensive Cancer Center. , 2016, Journal of the American College of Radiology.

[2]  Bernard Bayle,et al.  Design and characterization of a novel needle insertion tool , 2016, 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob).

[3]  Mark L. Lessne,et al.  Interventional Procedures for Global Health Radiology , 2014, Radiology in Global Health.

[4]  Stephen T. C. Wong,et al.  Image-Guided Biopsy in the Era of Personalized Cancer Care: Proceedings from the Society of Interventional Radiology Research Consensus Panel. , 2016, Journal of vascular and interventional radiology : JVIR.

[5]  Nikolai Hungr,et al.  Design and Validation of a CT- and MRI-Guided Robot for Percutaneous Needle Procedures , 2016, IEEE Transactions on Robotics.

[6]  Bernard Bayle,et al.  A Force Feedback Teleoperated Needle Insertion Device for Percutaneous Procedures , 2009, Int. J. Robotics Res..

[7]  George Vilos,et al.  Tolerance, hospital stay, and recovery after uterine artery embolization for fibroids: the Ontario Uterine Fibroid Embolization Trial. , 2003, Journal of vascular and interventional radiology : JVIR.

[8]  J. Fütterer,et al.  Cone beam CT guidance provides superior accuracy for complex needle paths compared with CT guidance. , 2013, The British journal of radiology.

[9]  Constantinos Mavroidis,et al.  Magnetic resonance-compatible robotic and mechatronics systems for image-guided interventions and rehabilitation: a review study. , 2007, Annual review of biomedical engineering.

[10]  Conor J. Walsh,et al.  A Patient-Mounted, Telerobotic Tool for CT-Guided Percutaneous , 2008 .

[11]  Dan Stoianovici,et al.  Multi-Imager Compatible, MR Safe, Remote Center of Motion Needle-Guide Robot , 2018, IEEE Transactions on Biomedical Engineering.

[12]  Arnaud Bruyas,et al.  Design and Modeling of a Large Amplitude Compliant Revolute Joint: The Helical Shape Compliant Joint , 2015 .

[13]  Shaun P. Salisbury,et al.  Development of an MRI-Compatible, Compact, Rotary-Linear Piezoworm Actuator , 2015 .

[14]  J E Browne,et al.  Assessment of the accuracy of an ultrasound elastography liver scanning system using a PVA-cryogel phantom with optimal acoustic and mechanical properties , 2010, Physics in medicine and biology.

[15]  Bernard Bayle,et al.  In Vivo Model Estimation and Haptic Characterization of Needle Insertions , 2007, Int. J. Robotics Res..

[16]  P R Mueller,et al.  Interventional radiology in the chest and abdomen. , 1990, The New England journal of medicine.

[17]  Pierre Renaud,et al.  Toward unibody robotic structures with integrated functions using multimaterial additive manufacturing: Case study of an MRI-compatible interventional device , 2015, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[18]  Ruizong Li,et al.  Percutaneous transthoracic needle biopsy of the lung: review of 612 lesions. , 1998, Journal of vascular and interventional radiology : JVIR.