Premium
A novel end‐effector design for robotics in image‐guided needle procedures
Author(s) -
Sun D.,
Willingham C.,
Durrani A.,
King P.,
Cleary K.,
Wood B.
Publication year - 2006
Publication title -
the international journal of medical robotics and computer assisted surgery
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.556
H-Index - 53
eISSN - 1478-596X
pISSN - 1478-5951
DOI - 10.1002/rcs.66
Subject(s) - robot end effector , robotic arm , computer science , robotics , joystick , artificial intelligence , computer vision , biomedical engineering , simulation , surgery , medicine , robot
Abstract Background Robotic end‐effectors are being developed to facilitate image‐guided minimally invasive needle‐based procedures, such as tumour ablation, biopsy, thoracentesis and blood sampling. Methods A novel mechanical end‐effector was designed to address the challenges associated with any major needle‐based procedure, focusing on liver biopsy and ablation. In this end‐effector embodiment, the distal end of a single articulating arm can grip needles and instruments and allows a fairly high number of degrees of freedom of movement during the complex motions associated with positioning and driving needles, as well as the periodic motions associated with breathing patterns. Tightening a cable that runs through the articulations fixes the arm in a rigid state, allowing insertion of the gripped needle. Results A design is presented that will require electro‐mechanical stimulation and remote joystick control. The associated forces of cranial–caudal motion of soft tissue organs affects design constraints. A simulation study defined the process with tissue phantoms with mechanical properties in the range of hepatic tissue and the overlying abdominal wall. The robotic arm coupled with our end‐effector could be deployed in an image‐guided interventional suite. Conclusions Such a switch‐able and flexible mode for a robotic arm could overcome much of the current limitations for automated needle placements for mobile targets, and could mitigate risks from breathing or patient motion with a rigid needle gripper in place. Copyright © 2006 John Wiley & Sons, Ltd.