Author Correction: Feasibility, safety and accuracy of a CT-guided robotic assistance for percutaneous needle placement in a swine liver model

AbstractEvaluate the feasibility, safety and accuracy of a CT-guided robotic assistance for percutaneous needle placement in the liver. Sixty-six fiducials were surgically inserted into the liver of ten swine and used as targets for needle insertions. All CT-scan acquisitions and robotically-assisted needle insertions were coordinated with breath motion using respiratory monitoring. Skin entry and target points were defined on planning CT-scan. Then, robotically-assisted insertions of 17G needles were performed either by experienced interventional radiologists or by a novice. Post-needle insertion CT-scans were acquired to assess accuracy (3D deviation, ie. distance from needle tip to predefined target) and safety. All needle insertions (43/43; median trajectory length = 83 mm (interquartile range [IQR] 72–105 mm) could be performed in one (n = 36) or two (n = 7) attempts (100% feasibility). Blinded evaluation showed an accuracy of 3.5 ± 1.3 mm. Accuracy did not differ between novice and experienced operators (3.7 ± 1.3 versus 3.4 ± 1.2 mm, P = 0.44). Neither trajectory angulation nor trajectory length significantly impacted accuracy. No complications were encountered. Needle insertion using the robotic device was shown feasible, safe and accurate in a swine liver model. Accuracy was influenced neither by the trajectory length nor by trajectory angulations nor by operator’s experience. A prospective human clinical trial is recruiting.

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Needle placement accuracy in CT-guided robotic post mortem biopsy

Current Directions in Biomedical Engineering ◽

10.1515/cdbme-2020-0031 ◽

2020 ◽

Vol 6 (1) ◽

Author(s):

Martin Gromniak ◽

Maximilian Neidhardt ◽

Axel Heinemann ◽

Klaus Püschel ◽

Alexander Schlaefer

Keyword(s):

Needle Biopsy ◽

Minimal Invasive ◽

Robotic Arm ◽

Limited Time ◽

Time Since Death ◽

Time Cost ◽

Needle Placement ◽

Manner Of Death ◽

Ct Guided ◽

Placement Accuracy

AbstractForensic autopsies include a thorough examination of the corpse to detect the source or alleged manner of death as well as to estimate the time since death. However, a full autopsy may be not feasible due to limited time, cost or ethical objections by relatives. Hence, we propose an automated minimal invasive needle biopsy system with a robotic arm, which does not require any online calibrations during a procedure. The proposed system can be easily integrated into the workflow of a forensic biopsy since the robot can be flexibly positioned relative to the corpse. With our proposed system, we performed needle insertions into wax phantoms and livers of two corpses and achieved an accuracy of 4.34 ± 1.27 mm and 10.81 ± 4.44 mm respectively.

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Robotic Assistance System for Cone-Beam Computed Tomography-Guided Percutaneous Needle Placement

CardioVascular and Interventional Radiology ◽

10.1007/s00270-021-02938-7 ◽

2021 ◽

Author(s):

Michael Kostrzewa ◽

Andreas Rothfuss ◽

Torben Pätz ◽

Markus Kühne ◽

Stefan O. Schoenberg ◽

...

Keyword(s):

Computed Tomography ◽

Target Lesion ◽

Robotic Arm ◽

Cone Beam ◽

Mean Deviation ◽

Robotic Assistance ◽

Needle Placement ◽

Image Guided ◽

Out Of Plane ◽

Tip Position

Abstract Purpose The study aimed to evaluate a new robotic assistance system (RAS) for needle placement in combination with a multi-axis C-arm angiography system for cone-beam computed tomography (CBCT) in a phantom setting. Materials and Methods The RAS consisted of a tool holder, dedicated planning software, and a mobile platform with a lightweight robotic arm to enable image-guided needle placement in conjunction with CBCT imaging. A CBCT scan of the phantom was performed to calibrate the robotic arm in the scan volume and to plan the different needle trajectories. The trajectory data were sent to the robot, which then positioned the tool holder along the trajectory. A 19G needle was then manually inserted into the phantom. During the control CBCT scan, the exact needle position was evaluated and any possible deviation from the target lesion measured. Results In total, 16 needle insertions targeting eight in- and out-of-plane sites were performed. Mean angular deviation from planned trajectory to actual needle trajectory was 1.12°. Mean deviation from target point and actual needle tip position was 2.74 mm, and mean deviation depth from the target lesion to the actual needle tip position was 2.14 mm. Mean time for needle placement was 361 s. Only differences in time required for needle placement between in- and out-of-plane trajectories (337 s vs. 380 s) were statistically significant (p = 0.0214). Conclusion Using this RAS for image-guided percutaneous needle placement with CBCT was precise and efficient in the phantom setting.

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CT-guided needle placement in the central nervous system: results in 146 consecutive patients

American Journal of Roentgenology ◽

10.2214/ajr.143.4.861 ◽

1984 ◽

Vol 143 (4) ◽

pp. 861-868 ◽

Cited By ~ 15

Author(s):

CJ Moran ◽

TP Naidich ◽

JA Marchoski

Keyword(s):

Central Nervous System ◽

Nervous System ◽

Needle Placement ◽

Ct Guided ◽

The Central Nervous System

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

International Journal of Medical Robotics and Computer Assisted Surgery ◽

10.1002/rcs.393 ◽

2011 ◽

Vol 7 (2) ◽

pp. 225-236 ◽

Cited By ~ 32

Author(s):

Saúl Tovar-Arriaga ◽

Ralf Tita ◽

Jesús Carlos Pedraza-Ortega ◽

Efren Gorrostieta ◽

Willi A. Kalender

Keyword(s):

Navigation System ◽

Needle Placement ◽

Ct Guided

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A Precision System for Computed Tomography-Guided Needle Placement in the Thorax and Abdomen—Technical Design and Performance Analysis

Journal of Medical Devices ◽

10.1115/1.4039389 ◽

2018 ◽

Vol 12 (2) ◽

Author(s):

Maarten M. Arnolli ◽

Martijn Buijze ◽

Michel Franken ◽

Ivo A. M. J. Broeders ◽

Dannis M. Brouwer

Keyword(s):

Computed Tomography ◽

Degrees Of Freedom ◽

Drive System ◽

Needle Placement ◽

Technical Design ◽

User Requirement ◽

Registration System ◽

Ct Guided ◽

And Performance ◽

The Individual

A system was developed for computed tomography (CT)-guided needle placement in the thorax and abdomen, providing precise aiming of a needle guide (NG) to reach a user-specified target in a single manual insertion. The objective of this work is to present its technical design and analyze its performance in terms of placement error in air. The individual contributions to the placement error of a fiducial marker based system-to-CT registration system, a two degrees-of-freedom (2DOFs) drive system to aim the NG, and a structural link between NG and CT table were experimentally determined, in addition to the placement error of the overall system. An error contribution of 0.81 ± 0.34 mm was determined for the registration system, <1.2 mm and <3.3 mm for the drive system, and 0.35 mm and 0.43 mm for two load cases of the structural link. The overall unloaded system achieved 1.0 ± 0.25 mm and 2.6 ± 0.7 mm at 100 mm and 250 mm depth, respectively. The overall placement errors in air do not exceed the ≤5 mm error specified as a clinical user requirement for needle placement in tissue.

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