Robotics is a rapidly advancing field, and its introduction in healthcare can have a multitude of benefits for clinical practice. Especially, applications depending on the radiologist’s accuracy and precision, such as percutaneous interventions, may profit. This paper provides an overview of recent robot-assisted percutaneous solutions. Percutaneous interventions are relatively simple and the quality of the procedure increases a lot by introducing robotics due to the improved accuracy and precision. The success of the procedure is heavily dependent on the ability to merge pre- and intraoperative images, as an accurate estimation of the current target location allows to exploit the robot’s capabilities. Despite much research, the application of robotics in some branches of healthcare is not commonplace yet. Recent advances in percutaneous robotic solutions and imaging are highlighted, as they will pave the way to more widespread implementation of robotics in clinical practice.

/pdf/needle-and-biopsy-robots-a-review-590ikkosmp.pdf

Needle and Biopsy Robots: a Review

Limited physical access to target organs of patients inside an MRI scanner is a major obstruction to real-time MRI-guided interventions. Traditional teleoperation technologies are incompatible with the MRI environment and although several solutions have been explored, a versatile system that provides high-fidelity haptic feedback and access deep inside the bore remains a challenge. We present a passive and nearly frictionless MRI-compatible hydraulic teleoperator designed for in-bore liver biopsies. We describe the design components, characterize the system transparency, and evaluate the performance with a user study in a laboratory and a clinical setting. The results demonstrate $ % difference between input and output forces during realistic manipulation. A user study with participants conducting mock needle biopsy tasks indicates that a remote operator performs equally well when using the device as when holding a biopsy needle directly in hand. Additionally, MRI compatibility tests show no reduction in signal-to-noise ratio in the presence of the device.

Enabling In-Bore MRI-Guided Biopsies With Force Feedback

We present an orientation adaptive controller to compensate for the effects of highly constrained environments on continuum manipulator actuation. A transformation matrix updated using optimal estimation techniques from optical flow measurements captured by the distal camera is composed with any Jacobian estimation or kinematic model to compensate for these effects. By utilizing domain knowledge to define the structure of this matrix, fewer parameters need to be estimated and a stable controller can be guaranteed. The algorithm is tested on a custom robotic catheter and convergence is shown both empirically and theoretically.

Model-free Visual Control for Continuum Robot Manipulators via Orientation Adaptation

Acupuncture is gaining increasing attention and recognition all over the world. However, a lot of physical labor is paid by acupuncturists. It is natural to resort to a robot which can improve the accuracy as well as the efficacy of therapy. Several teams have separately developed real acupuncture robots or related technologies and even went to the stage of clinical trial and then achieved success commercially. A completed clinical practical acupuncture robot is not far from reach with the combination of existing mature medical robotic technologies. A hand-eye-brain coordination framework is proposed in this review to integrate the potential utilizing technologies including force feedback, binocular vision, and automatic prescription. We should take acupuncture prescription with artificial intelligence and future development trends into account and make a feasible choice in development of modern acupuncture.

/pdf/guidance-for-acupuncture-robot-with-potentially-utilizing-3ue3k3xbue.pdf

Guidance for Acupuncture Robot with Potentially Utilizing Medical Robotic Technologies.

We present an orientation adaptive controller to compensate for the effects of highly constrained environments on continuum manipulator actuation. A transformation matrix updated using optimal estimation techniques from optical flow measurements captured by the distal camera is composed with any Jacobian estimation or kinematic model to compensate for these effects. By utilizing domain knowledge to define the structure of this matrix, fewer parameters need to be estimated and a stable controller can be guaranteed. The algorithm is tested on a custom robotic catheter and convergence is shown both empirically and theoretically. 

/pdf/model-free-visual-control-for-continuum-robot-manipulators-2kh9ns5q.pdf

Model-Free Visual Control for Continuum Robot Manipulators via Orientation Adaptation

This paper describes the design, manufacture, and performance of a highly dexterous, low-profile, 7 Degree-of-Freedom (DoF) robotic arm for CT-guided percutaneous needle biopsy. Direct CT guidance allows physicians to localize tumours quickly; however, needle insertion is still performed by hand. This system is mounted to a fully active motion stage superior to the patient’s head and teleoperated by a radiologist. Unlike other similar robots, this robot’s fully serial-link approach uses a unique combination of belt and cable drives for high-transparency and minimal-backlash, allowing for an expansive working area and numerous approach angles to targets, all while maintaining a small in-bore cross-section of less than 16cm2. Simulations verified the system’s expansive collision free work-space and ability to hit targets across the entire chest, as required for lung cancer biopsy. Targeting error was on average < 1mm on a teleoperated accuracy task, illustrating the system’s sufficient accuracy to perform biopsy procedures. While this system was developed for lung biopsies, it can be easily modified for other CT-guided needle based procedures. Additionally, this system is open-hardware.1

An Open-Source 7-Axis, Robotic Platform to Enable Dexterous Procedures within CT Scanners

This paper describes the design, manufacture, and performance of a highly dexterous, low-profile, 7 Degree-of-Freedom (DOF) robotic arm for CT-guided percutaneous needle biopsy. Direct CT guidance allows physicians to localize tumours quickly; however, needle insertion is still performed by hand. This system is mounted to a fully active gantry superior to the patient's head and teleoperated by a radiologist. Unlike other similar robots, this robot's fully serial-link approach uses a unique combination of belt and cable drives for high-transparency and minimal-backlash, allowing for an expansive working area and numerous approach angles to targets all while maintaining a small in-bore cross-section of less than $16cm^2$. Simulations verified the system's expansive collision free work-space and ability to hit targets across the entire chest, as required for lung cancer biopsy. Targeting error is on average $<1mm$ on a teleoperated accuracy task, illustrating the system's sufficient accuracy to perform biopsy procedures. The system is designed for lung biopsies due to the large working volume that is required for reaching peripheral lung lesions, though, with its large working volume and small in-bore cross-sectional area, the robotic system is effectively a general-purpose CT-compatible manipulation device for percutaneous procedures. Finally, with the considerable development time undertaken in designing a precise and flexible-use system and with the desire to reduce the burden of other researchers in developing algorithms for image-guided surgery, this system provides open-access, and to the best of our knowledge, is the first open-hardware image-guided biopsy robot of its kind.

An Open-Source 7-Axis, Robotic Platform to Enable Dexterous Procedures within CT Scanners.

Handle everyday research tasks with reliable, citation-backed results

Your personal Research Agent to handle research tasks with citation-backed results

Popular Tasks used by Researchers

How can I help with your research?

Meet SciSpace

Get more enhanced response by uploading the PDFs you want me to reference.

No relevant PDFs in your library

SciSpace is the AI research assistant for academics. Run systematic literature reviews on 280M+ papers, and write papers with cited sources. Trusted by 1M+ students, PhDs & researchers.

SciSpace | AI for Research

Analyze PDFs

Code & Manuscripts

Funding & Grants

Literature & Patents

Medical & Clinical Data

Systematic Review

Visualize & Present

Web & Data

Build a Google Scholar-like website for your research.

Build a website

Create charts and images for your research

Create a Chart

Write a paper for submission to a journal

Draft a manuscript

Patent Search

Design eye-catching scientific posters in minutes.

Scientific Poster Generation

Systematic Literature Review

One task is running at the moment. Your messages will be shown right after.

Drag and drop or click here to browse

Loved by <highlight>1 million+</highlight> researchers

Extract a list of specific topics and their sources from unstructured text

Topics

Compare and analyze relevant papers that matches with your search

Papers

Get insights from PDFs and bookmarked papers from your library

My library

Recent searches

Try searching for:

Catch AI-generated content in scholarly and non-scholarly content

{ai} Detector

Ai Writer

Get PDF Summaries, highlighted text explanations 

Chat with PDF

Effortlessly create in-text citations and bibliographies in APA and 2,500 other formats

Citation generator

Get explanations, summaries, and answers on academic papers

Ease up your research workflow with {scispace}'s cohort of exciting AI tools

Elevate your academic writing skills and convey your ideas the way you want

Paraphraser

Explore our range of reading and writing tools

Your file is being prepared and should be ready in a few minutes. If it's a large file, it might take a bit longer. You can close this window, and we'll email you the file when it's done.

You have reached a maximum limit of <strong>{limit}</strong> columns in the table. Remove at least <strong>1</strong> column to add or create another one.

Daniel B. Shak

Author Tools

Chat about Author

Papers

An Open-Source 7-Axis, Robotic Platform to Enable Dexterous Procedures within CT Scanners

An Open-Source 7-Axis, Robotic Platform to Enable Dexterous Procedures within CT Scanners.