Computed tomography (CT)-compatible remote center of motion needle steering robot: Fusing CT images and electromagnetic sensor data

Medical Engineering & Physics
Navid ShahriariSarthak Misra

Abstract

Lung cancer is the most common cause of cancer-related death, and early detection can reduce the mortality rate. Patients with lung nodules greater than 10 mm usually undergo a computed tomography (CT)-guided biopsy. However, aligning the needle with the target is difficult and the needle tends to deflect from a straight path. In this work, we present a CT-compatible robotic system, which can both position the needle at the puncture point and also insert and rotate the needle. The robot has a remote-center-of-motion arm which is achieved through a parallel mechanism. A new needle steering scheme is also developed where CT images are fused with electromagnetic (EM) sensor data using an unscented Kalman filter. The data fusion allows us to steer the needle using the real-time EM tracker data. The robot design and the steering scheme are validated using three experimental cases. Experimental Case I and II evaluate the accuracy and CT-compatibility of the robot arm, respectively. In experimental Case III, the needle is steered towards 5 real targets embedded in an anthropomorphic gelatin phantom of the thorax. The mean targeting error for the 5 experiments is 1.78 ± 0.70 mm. The proposed robotic system is shown to be CT-compatible ...Continue Reading

Citations

Mar 8, 2019·Proceedings of the Institution of Mechanical Engineers. Part H, Journal of Engineering in Medicine·Zhuo ZhaoZion Tsz Ho Tse
Jul 4, 2020·Frontiers of Medicine·Masakatsu G Fujie, Bo Zhang
Nov 21, 2018·Biomedical Engineering Online·Xiaoqin ZhouYili Fu
Nov 20, 2020·Minimally Invasive Therapy & Allied Technologies : MITAT : Official Journal of the Society for Minimally Invasive Therapy·Zhuo ZhaoZion Tsz Ho Tse
Jul 30, 2021·Frontiers in Robotics and AI·Michael UngerAndreas Melzer

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