Development of a Gripper with Variable Stiffness for a CT-Guided Needle Insertion Robot

In recent years, interventional radiology (IR) as a medical procedure has attracted considerable attention. Among the various IR techniques, computed tomography (CT)-guided IR is performed by inserting a specific needle into a lesion under CT guidance, leading to this medical procedure being less invasive. However, as the procedure requires the doctor to be positioned near the CT, radiation exposure may be a major concern. To overcome this problem, we developed a remote-controlled robotic system for needle insertion during CT-guided interventional procedures. The current needle holder for the robot is risky in that it might hurt a patient since a needle is always held firmly even when the patient moves. To solve this problem, we designed and fabricated a gripper with variable stiffness through jamming transition. Subsequently, we conducted experiments to investigate the effect of elements constituting the gripper to improve its performance.

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CT and PET/CT-Guided Interventional Radiology Procedures

Anesthesia Outside of the Operating Room ◽

10.1093/med/9780195396676.003.0009 ◽

2011 ◽

pp. 74-81

Author(s):

Daniel A.T. Souza ◽

Milana Flusberg ◽

Paul B. Shyn ◽

Servet Tatli ◽

Stuart G. Silverman

Keyword(s):

Computed Tomography ◽

Interventional Radiology ◽

Imaging Modality ◽

Ct Guided ◽

Percutaneous Interventions ◽

Pet Ct ◽

Wide Range ◽

Interventional Radiology Procedures ◽

Diagnostic Ct

Over the last several decades, computed tomography (CT) has become a critical imaging modality for the diagnosis of a wide range of diseases. CT has also become a valuable guidance modality for a large number of percutaneous interventions that are generally divided into diagnostic and therapeutic categories. This chapter discusses common diagnostic CT-guided interventions include biopsies, aspirations, and drainages, and other PET/CT-guided interventional radiology procedures.

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Post-Anesthesia Hookwire Localization of Pulmonary Ground Glass Nodules Guided by Computed-Tomography Three-Dimensional Reconstruction: A Feasibility Study

10.21203/rs.3.rs-332644/v1 ◽

2021 ◽

Author(s):

Chong Wang ◽

Yang Liu ◽

Bo Xiao ◽

Shuku Liu

Keyword(s):

Computed Tomography ◽

Three Dimensional ◽

Effective Rate ◽

Needle Insertion ◽

Ground Glass ◽

Pain Patient ◽

Three Dimensional Reconstruction ◽

Ct Guided ◽

Dimensional Reconstruction ◽

Ground Glass Nodules

Abstract Background: Computed-tomography(CT) guided hookwire localization has disadvantages, such as pain, patient transport risk and increased radiation exposure. In order to overcome the above shortcomings, our method is post-anesthesia hookwire localization guided by preoperative CT three-dimensional reconstruction. The effectiveness and safety of this method will be studied.Methods: A total of 36 patients(36 nodules) with ground glass nodules were consecutively included in this study. Three dimensional reconstruction of chest CT was performed to simulate the puncture path. The puncture point, the depth and angle of needle insertion were recorded. After anesthesia, the puncture point was marked on the patient's body surface. Hookwire was placed according to the previous planned puncture direction and depth. The effectiveness and complications of the localization were evaluated during the operation.Results: Hookwire dislocation was found in 1 patient in operation. The other 35 nodules were successfully positioned. The median distance between hookwire and lesion was 14mm(3-25mm). The effective rate was 97.2%(35/36). Only one patient found a small amount of blood in the chest. There was no pulmonary hematoma, blood pressure or oxygen decreasing in all patients. The complication rate was 2.8% (1/36) and the severe complication was 0. The median time for localization was 3 minutes. Conclusion: Post-anesthesia hookwire localization guided by preoperative three-dimensional reconstruction is a simple, safe and effective localization method, which is suitable for appropriate nodules, and is an important supplement to CT guided localization.Trial registration: ChiCTR1900023853. Registered in Chinese Clinical Trail Registry on 14 June 2019, http://www.chictr.org.cn/showprojen.aspx?proj=40060

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Sistem Pemantauan Dosis (Dose Monitoring System) Dalam Upaya Meningkatkan Kualitas Pelayanan Radiologi Diagnostik dan Intervensional

10.53862/ssi.v1.062021.007 ◽

2021 ◽

Author(s):

Tuti Amalia ◽

Keyword(s):

Computed Tomography ◽

Interventional Radiology ◽

Effective Dose ◽

Monitoring System ◽

Interventional Procedures ◽

Interventional Procedure ◽

Radiation Risk ◽

Imaging Modalities ◽

Dose Monitoring ◽

Patient Doses

X-ray-based medical imaging has become one of the most popular imaging modalities today. Computed tomography (CT) and interventional procedures can result in higher radiation exposure for patients compared to other radiographic examinations. There has been an increase in the effective dose of > 100 mSv from some procedures. Recent studies have shown that multiphase CT imaging and repeated imaging provide larger radiation doses in some patients. In considering the effective dose (E) for each patient, it is essential to note that the risk per Sv tends to be greater on average in pediatric patients than in adults. In addition, E can be used to describe the possible risk to the patient. Dose management is essential in monitoring and controlling patient doses. Consistent and systematic monitoring of radiation dose is needed to improve the quality of diagnostic and interventional radiology services. Dose monitoring activities include performance control, optimization of protocols used, corrective actions against non-standard practices, and raising awareness for radiation workers to minimize risks. The use of a dose monitoring system (Dose Monitoring System) responds to concerns about the radiation risk that comes from diagnostic imaging modalities, particularly Computed Tomography (CT) and fluoroscopy in interventional procedures. The dose monitoring system (Dose Monitoring System) has developed into a requirement in monitoring and controlling patient doses and is one of the applications of radiation safety culture that can improve diagnostic and interventional radiology services. Keywords: Computed tomography (CT), effective dose, interventional procedure

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Development of a prototype of a stiffness changeable gripper by Jamming transition for a CT-guided needle insertion robot

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ◽

10.1299/jsmermd.2018.1a1-g05 ◽

2018 ◽

Vol 2018 (0) ◽

pp. 1A1-G05

Author(s):

Kento YOKOUCHI ◽

Tetsushi KAMEGAWA ◽

Takayuki MATSUNO ◽

Takao HIRAKI ◽

Akio GOFUKU ◽

...

Keyword(s):

Needle Insertion ◽

Ct Guided ◽

Jamming Transition

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Patient Safety in Radiology

Textbook of Patient Safety and Clinical Risk Management ◽

10.1007/978-3-030-59403-9_22 ◽

2020 ◽

pp. 309-318

Author(s):

Mahdieh Montazeran ◽

Davide Caramella ◽

Mansoor Fatehi

Keyword(s):

Magnetic Resonance Imaging ◽

Computed Tomography ◽

Interventional Radiology ◽

Patient Safety ◽

Magnetic Resonance ◽

Ultrasound Imaging ◽

Interventional Procedures ◽

Essential Role ◽

Therapeutic Benefit ◽

Magnetic Resonance Imaging Mri

AbstractMedical imaging (in short radiology) includes diagnostic and interventional procedures and has an essential role in the diagnosis and treatment of diseases. The objective in this field of medicine is focused on providing diagnostic and therapeutic benefit to the patients along with protecting them from the possible hazards associated with the procedures. By continuously upgrading imaging technologies and improving imaging modalities, such as ultrasound imaging, X-ray-based imaging (radiography, fluoroscopy, and computed tomography), magnetic resonance imaging (MRI), and interventional radiology, safety has become more and more crucial. The potential hazards in radiology for the patients and the staff are multidimensional and will be discussed in the chapter.

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