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2004

A new robotic system for CT-guided percutaneous procedures with haptic feedback

13 years 5 months ago
A new robotic system for CT-guided percutaneous procedures with haptic feedback
In this paper, we present a new point of view for the conception of what a teleoperated robotic device should be for percutaneous intervention with computed tomography guidance. We focus our attention on very common and widely used medical acts : the radiofrequency ablation and the biopsy procedure. These acts are widely used in manual interventional radiology, but they come up with others problems. First, the guidance precision is limited for a human, second, the radiologist risks its health by being exposed to X rays during each operation. The robotic system we describe is original by its conception and its control feedback (based on force feedback and vision). A prototype is presented, together with a complete workflow of the system. Some results present the first data acquired with the force feedback sensors.
Benjamin Maurin, Olivier Piccin, Bernard Bayle, Ja
Added 30 Oct 2010
Updated 30 Oct 2010
Type Conference
Year 2004
Where CARS
Authors Benjamin Maurin, Olivier Piccin, Bernard Bayle, Jacques Gangloff, Michel de Mathelin, Luc Soler, Afshin Gangi
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