CRANE: A Redundant, Multi-Degree-of-Freedom Computed Tomography Robot for Heightened Needle Dexterity within a Medical Imaging Bore
IEEE Transactions on Robotics(2024)
摘要
Computed Tomography (CT) image guidance enables accurate and safe minimally
invasive treatment of diseases, including cancer and chronic pain, with
needle-like tools via a percutaneous approach. The physician incrementally
inserts and adjusts the needle with intermediate images due to the accuracy
limitation of free-hand adjustment and patient physiological motion. Scanning
frequency is limited to minimize ionizing radiation exposure for the patient
and physician. Robots can provide high positional accuracy and compensate for
physiological motion with fewer scans. To accomplish this, the robots must
operate within the confined imaging bore while retaining sufficient dexterity
to insert and manipulate the needle. This paper presents CRANE: CT Robotic Arm
and Needle Emplacer, a CT-compatible robot with a design focused on system
dexterity that enables physicians to manipulate and insert needles within the
scanner bore as naturally as they would be able to by hand. We define abstract
and measurable clinically motivated metrics for in-bore dexterity applicable to
general-purpose intra-bore image-guided needle placement robots, develop an
automatic robot planning and control method for intra-bore needle manipulation
and device setup, and demonstrate the redundant linkage design provides
dexterity across various human morphology and meets the clinical requirements
for target accuracy during an in-situ evaluation.
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关键词
Image guided robots,CT guided robots,robotic biopsy,robotic ablation,medical robots,robot control,image guided surgery,interventional radiology (IR),workspace analysis,dexterous robots
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