Abstract
A robotic system is being under development in order to assist interventional radiologists when they are doing ultrasound- or CT-guided biopsies. For easy and flexible setup at various interventional sites, the complete system is mounted on a mobile platform and uses video I/O as a standardized interface to the different imaging systems in use. During planning of the intervention, the physician can use the ultra-sonography (US) or computer tomography (CT) scans acquired before to select the skin entry point as well as the target point. After confirmation of the planning, the robot is moved to the start position using different modes of motion—finally, the needle is manually inserted by the physician. The complete intervention can be monitored and documented by means of superimposed information of planned and real biopsy trajectory on the actual CT or US scan. A preclinical test using a needle-penetrable medical phantom was accomplished in order to validate the elaborated concept as well as the accuracy of the robot prototype for US-guided biopsies. Besides a short description of the prototype and the experimental setup, the paper describes the results from this in vitro study.
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