Three-dimensional Ultrasound-guided Robotic Needle Placement: an Experimental Evaluation

Overview

Journal Int J Med Robot

Publisher Wiley

Specialties Biotechnology
General Surgery

Date 2008 Apr 25

PMID 18433079

Citations 24

Authors

Emad M Boctor

Michael A Choti

Everette C Burdette

Robert J Webster Iii

Affiliations

Soon will be listed here.

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.

Citing Articles

Robotic Assistance in Percutaneous Liver Ablation Therapies: A Systematic Review and Meta-Analysis.

Uribe Rivera A, Seeliger B, Goffin L, Garcia-Vazquez A, Mutter D, Gimenez M Ann Surg Open. 2024; 5(2):e406.

PMID: 38911657 PMC: 11191991. DOI: 10.1097/AS9.0000000000000406.

The Precision and Safety of Ultrasound-Guided versus Palpation-Guided Needle Placement on the Plantar Fascia and Flexor Digitorum Brevis Interface: An Anatomical Study.

Malo-Urries M, Borrella-Andres S, Lopez-de-Celis C, Fernandez-de-Las-Penas C, Perez-Bellmunt A, Arias-Buria J Healthcare (Basel). 2024; 12(10).

PMID: 38786411 PMC: 11121310. DOI: 10.3390/healthcare12101000.

Precision and Safety of Ultrasound-Guided versus Palpation-Guided Needle Placement on the Patellar Tendon: A Cadaveric Study.

Arias-Buria J, Borrella-Andres S, Rodriguez-Sanz J, Lopez-de-Celis C, Malo-Urries M, Fernandez-de-Las-Penas C Life (Basel). 2023; 13(10).

PMID: 37895441 PMC: 10608026. DOI: 10.3390/life13102060.

Precision of Ultrasound-Guided versus Anatomical Palpation-Guided Needle Placement of the Ulnar Nerve at the Cubital Tunnel: A Cadaveric Study.

Lopez-de-Celis C, Fernandez-de-Las-Penas C, Malo-Urries M, Albarova-Corral I, Arias-Buria J, Perez-Bellmunt A Healthcare (Basel). 2023; 11(11).

PMID: 37297743 PMC: 10252201. DOI: 10.3390/healthcare11111603.

Modified FMCW Scheme for Improved Ultrasonic Positioning and Ranging of Unmanned Ground Vehicles at Distances < 50 mm.

Laureti S, Mercuri M, Hutchins D, Crupi F, Ricci M Sensors (Basel). 2022; 22(24).

PMID: 36560268 PMC: 9785695. DOI: 10.3390/s22249899.

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