A new robotic system for CT-guided percutaneous procedures with haptic feedback

被引：12
|
作者：
Maurin, B [1 ]
Piccin, O [1 ]
Bayle, B [1 ]
Gangloff, J [1 ]
de Mathelin, M [1 ]
Soler, L [1 ]
Gangi, A [1 ]
机构：
[1] Univ Strasbourg 1, CNRS, UMR 7005, LSIIT, F-67412 Illkirch Graffenstaden, France
来源：
CARS 2004: COMPUTER ASSISTED RADIOLOGY AND SURGERY, PROCEEDINGS | 2004年 / 1268卷
关键词：
percutaneous procedure; needle insertion robot; CT-guided intervention; teleoperated robot with; force feedback;
D O I：
10.1016/j.ics.2004.03.326
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
In this paper, we present a new design for a teleoperated robotic percutaneous intervention with computed tomography guidance. Percutaneous needle insertions are widely used in interventional radiology for radiofrequency ablations or biopsy procedures. Needle insertion robots guided by CT images should improve accuracy and reduce X-ray exposure of the radiologist. We propose a new design with force feedback and CT guidance. A prototype is presented, together with a complete workflow of the system. (C) 2004 CARS and Elsevier B.V. All rights reserved.
引用
收藏
页码：515 / 520
页数：6
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