Three-dimensional ultrasound-guided robotic needle placement

An experimental evaluation

Emad M. Boctor, Michael A. Choti, Everette C. Burdette, Robert J. Webster

Research output: Contribution to journalArticle

68 Citations (Scopus)

Abstract

Background Clinical use of image-guided needle placement robots has lagged behind laboratory-demonstrated robotic capability. Bridging this gap requires reliable and easy-to-use robotic systems. Methods Our system for image-guided needle placement requires only simple, low-cost components and minimal, entirely off-line calibration. It rapidly aligns needles to planned entry paths using 3D ultrasound (US) reconstructed from freehand 2D scans. We compare system accuracy against clinical standard manual needle placement. Results The US-guided robotic system is significantly more accurate than single manual insertions. When several manual withdrawals and reinsertions are allowed, accuracy becomes equivalent. In ex vivo experiments, robotic repeatability was 1.56 mm, compared to 3.19 and 4.63 mm for two sets of manual insertions. In an in vivo experiment with heartbeat and respiratory effects, robotic system accuracy was 5.5 mm. Conclusions A 3D US-guided robot can eliminate error bias and reduce invasiveness (the number of insertions required) compared to manual needle insertion. Remaining future challenges include target motion compensation.

Original languageEnglish (US)
Pages (from-to)180-191
Number of pages12
JournalInternational Journal of Medical Robotics and Computer Assisted Surgery
Volume4
Issue number2
DOIs
StatePublished - Jun 2008

Fingerprint

Robotics
Needles
Ultrasonics
Robots
Motion compensation
Compensation and Redress
Calibration
Experiments
Costs and Cost Analysis
Costs

Keywords

  • 3DUS
  • Ablation
  • CIS
  • IGT
  • Liver
  • Medical robots
  • RFA

ASJC Scopus subject areas

  • Computer Science Applications
  • Biophysics
  • Surgery

Cite this

Three-dimensional ultrasound-guided robotic needle placement : An experimental evaluation. / Boctor, Emad M.; Choti, Michael A.; Burdette, Everette C.; Webster, Robert J.

In: International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 4, No. 2, 06.2008, p. 180-191.

Research output: Contribution to journalArticle

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