This paper describes a teleoperated needle guidance and insertion tool to assist doctors in performing minimally invasive percutaneous biopsies remotely under computed tomography [CT] guidance. Robopsy is a user-friendly robotic device that grips, positions and inserts a biopsy needle while the patient is imaged to provide the radiologist with simultaneous needle position feedback. Patient care is improved through more precise targeting and shortened procedure times. Robopsy is made primarily of simple, lightweight, snap-together, disposable plastic parts and modular motors; contrasting devices are heavy, complex and expensive. It is designed to be taped onto a patient so as to passively compensate for respiratory chest motion and, additionally, it incorporates a novel feature, which compensates for passive needle oscillation. The design process is outlined and the first prototype presented. Initial results from testing on a cardiac phantom indicate that artifacts from the device in the CT images are negligible and that the device can successfully orientate and insert a needle remotely.
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