Abstract
Image guidance is a common methodology of minimally invasive procedures. Depending on the type of intervention, various imaging modalities are available. Common imaging modalities are computed tomography, magnetic resonance tomography, and ultrasound. Robotic systems have been developed to enable and improve the procedures using these imaging techniques. Spatial and technological constraints limit the development of versatile robotic systems. This paper offers a brief overview of the developments of robotic systems for image-guided interventions since 2015 and includes samples of our current research in this field.
Highlights
The main benefits of image-guided procedures in comparison to open or endoscopic surgery are reduced invasiveness and avoiding general anesthesia
This review offers a brief overview of the current directions of robotic systems for image-guided interventions in recent years
Robotic systems for image-guided interventions have been published to a large extend
Summary
The main benefits of image-guided procedures in comparison to open or endoscopic surgery are reduced invasiveness and avoiding general anesthesia. As per Feng et al the TiRobot system (TINAVI Medical Technology Co., Ltd., China) aims to achieve a more effective treatment outcome for the insertion of pedicle screws compared to the typical fluoroscopy-assisted freehand procedure (Feng et al, 2019) This system comprises a robotic arm with 6 degrees of freedom mounted on a mobile platform and utilizes intraoperative C-arm images. The robot carries the potential to speed up the procedure thereby reducing the burden of the patient lying uncomfortably in the MRI (5) He et al developed a body-mounted robot with fluid-driven actuators for the positioning of a needle guide (He et al, 2020). The used soft actuators enable passive compliance with human robot interaction as excessive force is deflected away from the patient While this approach eases the system design from a safety point-of-view, the deformation of the end-effector inhibits knowing the exact position of the ultrasound probe. The system used a haptic device (Phantom Omni, 3D Systems, Inc., United States) to provide telemanipulation with force feedback capabilities
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