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Robotic Assistance System for Cone-Beam Computed Tomography-Guided Percutaneous Needle Placement
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 softw...
Autores principales: | , , , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Springer US
2021
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8716352/ https://www.ncbi.nlm.nih.gov/pubmed/34414495 http://dx.doi.org/10.1007/s00270-021-02938-7 |
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author | Kostrzewa, Michael Rothfuss, Andreas Pätz, Torben Kühne, Markus Schoenberg, Stefan O. Diehl, Steffen J. Stallkamp, Jan Rathmann, Nils |
author_facet | Kostrzewa, Michael Rothfuss, Andreas Pätz, Torben Kühne, Markus Schoenberg, Stefan O. Diehl, Steffen J. Stallkamp, Jan Rathmann, Nils |
author_sort | Kostrzewa, Michael |
collection | PubMed |
description | 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. |
format | Online Article Text |
id | pubmed-8716352 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | Springer US |
record_format | MEDLINE/PubMed |
spelling | pubmed-87163522022-01-12 Robotic Assistance System for Cone-Beam Computed Tomography-Guided Percutaneous Needle Placement Kostrzewa, Michael Rothfuss, Andreas Pätz, Torben Kühne, Markus Schoenberg, Stefan O. Diehl, Steffen J. Stallkamp, Jan Rathmann, Nils Cardiovasc Intervent Radiol Scientific Paper (other) 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. Springer US 2021-08-19 2022 /pmc/articles/PMC8716352/ /pubmed/34414495 http://dx.doi.org/10.1007/s00270-021-02938-7 Text en © The Author(s) 2021 https://creativecommons.org/licenses/by/4.0/Open AccessThis article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this licence, visit http://creativecommons.org/licenses/by/4.0/ (https://creativecommons.org/licenses/by/4.0/) . |
spellingShingle | Scientific Paper (other) Kostrzewa, Michael Rothfuss, Andreas Pätz, Torben Kühne, Markus Schoenberg, Stefan O. Diehl, Steffen J. Stallkamp, Jan Rathmann, Nils Robotic Assistance System for Cone-Beam Computed Tomography-Guided Percutaneous Needle Placement |
title | Robotic Assistance System for Cone-Beam Computed Tomography-Guided Percutaneous Needle Placement |
title_full | Robotic Assistance System for Cone-Beam Computed Tomography-Guided Percutaneous Needle Placement |
title_fullStr | Robotic Assistance System for Cone-Beam Computed Tomography-Guided Percutaneous Needle Placement |
title_full_unstemmed | Robotic Assistance System for Cone-Beam Computed Tomography-Guided Percutaneous Needle Placement |
title_short | Robotic Assistance System for Cone-Beam Computed Tomography-Guided Percutaneous Needle Placement |
title_sort | robotic assistance system for cone-beam computed tomography-guided percutaneous needle placement |
topic | Scientific Paper (other) |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8716352/ https://www.ncbi.nlm.nih.gov/pubmed/34414495 http://dx.doi.org/10.1007/s00270-021-02938-7 |
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