期刊
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
卷 19, 期 5, 页码 927-930出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRA.2003.817072
关键词
image-guided surgical intervention; robot-assisted surgery; surgical robot
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.
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