22 February 2011 Preliminary evaluation of robotic needle distal tip repositioning
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Abstract
Advances in medical imaging now provide detailed images of solid tumors inside the body and miniaturized energy delivery systems enable tumor destruction through local heating powered by a thin electrode. We have developed a robot for accurately repositioning the distal tip of a medical instrument such an ablation probe to adjacent points within tissue. The position accuracy in ballistics gelatin was evaluated in a 2D experimental setup with a digital SLR camera that was fixed to a rig that also contained the gelatin. The robot was mounted to the rig in such a way that the stylet was deployed in a plane parallel the camera's lens. A grid paper attached to the back of the box containing the gelatin provided a stationary reference point for each of the pictures taken and also served as a coordinate system for making measurements. The measurement repeatability error was found by taking a stylet tip position measurement five times for two different pictures and found to be 0.26 mm. For a stylet with a radius of curvature of 31.5 mm and a diameter of 0.838 mm, the targeting accuracy was found to be 2.5 ± 1.4 mm at points that were approximately 38 mm lateral from the cannula axis.
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Conor J. Walsh, Alexander H. Slocum, Rajiv Gupta, "Preliminary evaluation of robotic needle distal tip repositioning", Proc. SPIE 7901, Energy-based Treatment of Tissue and Assessment VI, 790108 (22 February 2011); doi: 10.1117/12.876604; https://doi.org/10.1117/12.876604
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