A Parallel Robotic System with Force Sensors for Percutaneous Procedures Under CT-Guidance

Abstract. This paper presents a new robotic framework for assisted CTguided percutaneous procedures with force feedback and automatic patientto-image registration of needle. The purpose is to help practitioners in performing accurate needle insertion while preserving them from harmful intra-operative X-rays imaging devices. Starting from medical requirements for needle insertions in the liver under CT-scan, a description of a dedicated parallel robot is made. Its geometrical and physical properties are explained. The design is mainly based on the accuracy and safety constraints. A real prototype is presented that is currently tested.

• Type: Conference
• Year: 2004
• Where: MICCAI
• Authors: Benjamin Maurin, Jacques Gangloff, Bernard Bayle, Michel de Mathelin, Olivier Piccin, Philippe Zanne, Christophe Doignon, Luc Soler, Afshin Gangi
• Keywords: Accurate Needle Insertion, Harmful Intra-operative X-rays, Medical Imaging, MICCAI 2004, Needle Insertions