TY - JOUR
T1 - AcuBot
T2 - A Robot for Radiological Interventions
AU - Stoianovici, Dan
AU - Cleary, Kevin
AU - Patriciu, Alexandra
AU - Mazilu, Dumitru
AU - Stanimir, Alexandru
AU - Craciunoiu, Nicolae
AU - Watson, Vance
AU - Kavoussi, Louis
N1 - Funding Information:
Manuscript received June 10, 2002; revised January 15, 2003. This paper was recommended for publication by Associate Editor J. Troccaz and Editor R. Taylor upon evaluation of the reviewers’ comments. This work was supported in part by the U.S. Army Medical Research Acquisition Activity (USAMRAA) under Grant DAMD17-99-1-9022 and in part by the National Cancer Institute (NCI) under Grant 1R21CA088232-01A1. Its contents are solely the responsibility of the authors and do not necessarily represent the official views of US-AMRAA or NCI. This paper was presented in part at the Society for Urology and Engineering 17th Annual Meeting, Orlando, FL, May 25, 2002.
PY - 2003/10
Y1 - 2003/10
N2 - We report the development of a robot for radiological percutaneous interventions using uniplanar fluoroscopy, biplanar fluoroscopy, or computed tomography (CT) for needle biopsy, radio frequency ablation, cryotherapy, and other needle procedures. AcuBot is a compact six-degree-of-freedom robot for manipulating a needle or other slender surgical instrument in the confined space of the imager without inducing image artifacts. Its distinctive characteristic is its decoupled motion capability correlated to the positioning, orientation, and instrument insertion steps of the percutaneous intervention. This approach allows each step of the intervention to be performed using a separate mechanism of the robot. One major advantage of this kinematic approach is patient safety. The first feasibility experiment performed with the robot, a cadaver study of perispinal blocks under biplanar fluoroscopy, is presented. The main expected application of this system is to CT-based procedures. AcuBot has received Food and Drug Administration clearance (IDE G010331/S1), and a clinical trial of using the robot for perispinal nerve and facet blocks is presently underway at Georgetown University, Washington, DC.
AB - We report the development of a robot for radiological percutaneous interventions using uniplanar fluoroscopy, biplanar fluoroscopy, or computed tomography (CT) for needle biopsy, radio frequency ablation, cryotherapy, and other needle procedures. AcuBot is a compact six-degree-of-freedom robot for manipulating a needle or other slender surgical instrument in the confined space of the imager without inducing image artifacts. Its distinctive characteristic is its decoupled motion capability correlated to the positioning, orientation, and instrument insertion steps of the percutaneous intervention. This approach allows each step of the intervention to be performed using a separate mechanism of the robot. One major advantage of this kinematic approach is patient safety. The first feasibility experiment performed with the robot, a cadaver study of perispinal blocks under biplanar fluoroscopy, is presented. The main expected application of this system is to CT-based procedures. AcuBot has received Food and Drug Administration clearance (IDE G010331/S1), and a clinical trial of using the robot for perispinal nerve and facet blocks is presently underway at Georgetown University, Washington, DC.
KW - Image-guided surgical intervention
KW - Robot-assisted surgery
KW - Surgical robot
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U2 - 10.1109/TRA.2003.817072
DO - 10.1109/TRA.2003.817072
M3 - Article
AN - SCOPUS:0242334659
SN - 1042-296X
VL - 19
SP - 927
EP - 930
JO - IEEE Transactions on Robotics and Automation
JF - IEEE Transactions on Robotics and Automation
IS - 5
ER -