Abstract
This paper presents a new robotic framework for assisted CT-guided percutaneous procedures with force feedback and automatic patient-to-image registration of needle. The purpose is to help practitioners in performing accurate needle insertion while preserving them from harmful intra-operative X-rays imaging devices. Starting from medical requirements for needle insertions in the liver under CT-scan, a description of a dedicated parallel robot is made. Its geometrical and physical properties are explained. The design is mainly based on the accuracy and safety constraints. A real prototype is presented that is currently tested.
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Maurin, B. et al. (2004). A Parallel Robotic System with Force Sensors for Percutaneous Procedures Under CT-Guidance. In: Barillot, C., Haynor, D.R., Hellier, P. (eds) Medical Image Computing and Computer-Assisted Intervention – MICCAI 2004. MICCAI 2004. Lecture Notes in Computer Science, vol 3217. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-30136-3_23
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DOI: https://doi.org/10.1007/978-3-540-30136-3_23
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