Abstract
BACKGROUND:
Various systems exist for CT-guided needle placement in the thorax and abdomen, but widespread adoption is lacking. The goal of this work is to develop a system for precise needle placement with a design focus on clinical acceptability, applicability and usability.
METHODS:
A system was outlined incorporating a needle guide on a mechanism with a remote centre of motion, manually placeable around the patient at the desired entry point and lockable by push-button to the CT table. System and patient are scanned for system-to-CT registration and target specification. The needle guide is automatically aimed at the target, for manual needle insertion to specified depth.
RESULTS:
A fully functional prototype was realized, achieving 1.2±0.6 mm placement error at 79.0±8.4 mm depth and 2.1±0.7 mm at 156.0±6.9 mm for 2×12 in- and out-of-plane punctures in a gelatin phantom.
CONCLUSIONS:
The system enables precise needle placement in a single insertion and is ready for its first clinical deployment.
Various systems exist for CT-guided needle placement in the thorax and abdomen, but widespread adoption is lacking. The goal of this work is to develop a system for precise needle placement with a design focus on clinical acceptability, applicability and usability.
METHODS:
A system was outlined incorporating a needle guide on a mechanism with a remote centre of motion, manually placeable around the patient at the desired entry point and lockable by push-button to the CT table. System and patient are scanned for system-to-CT registration and target specification. The needle guide is automatically aimed at the target, for manual needle insertion to specified depth.
RESULTS:
A fully functional prototype was realized, achieving 1.2±0.6 mm placement error at 79.0±8.4 mm depth and 2.1±0.7 mm at 156.0±6.9 mm for 2×12 in- and out-of-plane punctures in a gelatin phantom.
CONCLUSIONS:
The system enables precise needle placement in a single insertion and is ready for its first clinical deployment.
| Original language | English |
|---|---|
| Article number | e1877 |
| Journal | International journal of medical robotics and computer assisted surgery |
| Volume | 14 |
| Issue number | 1 |
| DOIs | |
| Publication status | Published - 1 Feb 2018 |
Keywords
- UT-Hybrid-D