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

✍ Scribed by Saúl Tovar-Arriaga; Ralf Tita; Jesús Carlos Pedraza-Ortega; Efren Gorrostieta; Willi A. Kalender

• Publisher: Wiley (Robotic Publications)
• Year: 2011
• Tongue: English
• Weight: 559 KB
• Volume: 7
• Category: Article
• ISSN: 1478-5951
• DOI: 10.1002/rcs.393

✦ Synopsis

Abstract

Background

A needle placement system using a serial robot arm for manipulation of biopsy and/or treatment needles is introduced. A method for fast calibration of the robot and the preliminary accuracy tests of the robotic system are presented.

Methods

The setup consists of a DLR/KUKA Light Weight Robot III especially designed for safe human/robot interaction mounted on a mobile platform, a robot‐driven angiographic C‐arm system and a navigation system.

Results

Calibration of the robot with the navigation system has a residual error of 0.23 mm (rms) with a standard deviation of ± 0.1 mm. Needle targeting accuracy with different trajectories was 1.2 mm (rms) with a standard deviation of ± 0.4 mm.

Conclusions

Robot absolute positioning accuracy was reduced to the navigation camera accuracy. The approach includes control strategies that may be very useful for interventional applications. Copyright © 2011 John Wiley & Sons, Ltd.