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Design and validation of a medical robotic device system to control two collaborative robots for ultrasound-guided needle insertions

The percutaneous biopsy is a critical intervention for diagnosis and staging in cancer therapy. Robotic systems can improve the efficiency and outcome of such procedures while alleviating stress for physicians and patients. However, the high complexity of operation and the limited possibilities for...

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Autores principales: Berger, Johann, Unger, Michael, Keller, Johannes, Reich, C. Martin, Neumuth, Thomas, Melzer, Andreas
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9554707/
https://www.ncbi.nlm.nih.gov/pubmed/36246494
http://dx.doi.org/10.3389/frobt.2022.875845
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author Berger, Johann
Unger, Michael
Keller, Johannes
Reich, C. Martin
Neumuth, Thomas
Melzer, Andreas
author_facet Berger, Johann
Unger, Michael
Keller, Johannes
Reich, C. Martin
Neumuth, Thomas
Melzer, Andreas
author_sort Berger, Johann
collection PubMed
description The percutaneous biopsy is a critical intervention for diagnosis and staging in cancer therapy. Robotic systems can improve the efficiency and outcome of such procedures while alleviating stress for physicians and patients. However, the high complexity of operation and the limited possibilities for robotic integration in the operating room (OR) decrease user acceptance and the number of deployed robots. Collaborative systems and standardized device communication may provide approaches to overcome named problems. Derived from the IEEE 11073 SDC standard terminology of medical device systems, we designed and validated a medical robotic device system (MERODES) to access and control a collaborative setup of two KUKA robots for ultrasound-guided needle insertions. The system is based on a novel standard for service-oriented device connectivity and utilizes collaborative principles to enhance user experience. Implementing separated workflow applications allows for a flexible system setup and configuration. The system was validated in three separate test scenarios to measure accuracies for 1) co-registration, 2) needle target planning in a water bath and 3) in an abdominal phantom. The co-registration accuracy averaged 0.94 ± 0.42 mm. The positioning errors ranged from 0.86 ± 0.42 to 1.19 ± 0.70 mm in the water bath setup and from 1.69 ± 0.92 to 1.96 ± 0.86 mm in the phantom. The presented results serve as a proof-of-concept and add to the current state of the art to alleviate system deployment and fast configuration for percutaneous robotic interventions.
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spelling pubmed-95547072022-10-13 Design and validation of a medical robotic device system to control two collaborative robots for ultrasound-guided needle insertions Berger, Johann Unger, Michael Keller, Johannes Reich, C. Martin Neumuth, Thomas Melzer, Andreas Front Robot AI Robotics and AI The percutaneous biopsy is a critical intervention for diagnosis and staging in cancer therapy. Robotic systems can improve the efficiency and outcome of such procedures while alleviating stress for physicians and patients. However, the high complexity of operation and the limited possibilities for robotic integration in the operating room (OR) decrease user acceptance and the number of deployed robots. Collaborative systems and standardized device communication may provide approaches to overcome named problems. Derived from the IEEE 11073 SDC standard terminology of medical device systems, we designed and validated a medical robotic device system (MERODES) to access and control a collaborative setup of two KUKA robots for ultrasound-guided needle insertions. The system is based on a novel standard for service-oriented device connectivity and utilizes collaborative principles to enhance user experience. Implementing separated workflow applications allows for a flexible system setup and configuration. The system was validated in three separate test scenarios to measure accuracies for 1) co-registration, 2) needle target planning in a water bath and 3) in an abdominal phantom. The co-registration accuracy averaged 0.94 ± 0.42 mm. The positioning errors ranged from 0.86 ± 0.42 to 1.19 ± 0.70 mm in the water bath setup and from 1.69 ± 0.92 to 1.96 ± 0.86 mm in the phantom. The presented results serve as a proof-of-concept and add to the current state of the art to alleviate system deployment and fast configuration for percutaneous robotic interventions. Frontiers Media S.A. 2022-09-28 /pmc/articles/PMC9554707/ /pubmed/36246494 http://dx.doi.org/10.3389/frobt.2022.875845 Text en Copyright © 2022 Berger, Unger, Keller, Reich, Neumuth and Melzer. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Robotics and AI
Berger, Johann
Unger, Michael
Keller, Johannes
Reich, C. Martin
Neumuth, Thomas
Melzer, Andreas
Design and validation of a medical robotic device system to control two collaborative robots for ultrasound-guided needle insertions
title Design and validation of a medical robotic device system to control two collaborative robots for ultrasound-guided needle insertions
title_full Design and validation of a medical robotic device system to control two collaborative robots for ultrasound-guided needle insertions
title_fullStr Design and validation of a medical robotic device system to control two collaborative robots for ultrasound-guided needle insertions
title_full_unstemmed Design and validation of a medical robotic device system to control two collaborative robots for ultrasound-guided needle insertions
title_short Design and validation of a medical robotic device system to control two collaborative robots for ultrasound-guided needle insertions
title_sort design and validation of a medical robotic device system to control two collaborative robots for ultrasound-guided needle insertions
topic Robotics and AI
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9554707/
https://www.ncbi.nlm.nih.gov/pubmed/36246494
http://dx.doi.org/10.3389/frobt.2022.875845
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