A semi-automated robotic system for percutaneous interventions.

Journal: International journal of computer assisted radiology and surgery
Published Date: Apr 14, 2023

Abstract

PURPOSE: A robotic assistive device is developed for needle-based percutaneous interventions. The aim is a hybrid system using both manual and actuated robotic operation in order to obtain a device that has a large workspace but can still fit in the gantry opening of a CT scanner. This will enable physicians to perform precise and time-efficient CT-guided percutaneous interventions. The concept of the mechanics and software of the device is presented in this work.

Authors

  • Marius Siegfarth
    Fraunhofer Institute for Manufacturing Engineering and Automation, Project Group for Automation in Medicine and Biotechnology, 68167, Mannheim, Germany.
  • Raffael Lutz
    Mannheim Institute for Intelligent Systems in Medicine, Heidelberg University, Mannheim, Germany.
  • Nils-Christian Iseke
    Mannheim Institute for Intelligent Systems in Medicine, Heidelberg University, Mannheim, Germany.
  • Javier Moviglia
    Mannheim Institute for Intelligent Systems in Medicine, Heidelberg University, Mannheim, Germany.
  • Fabian Sadi
    Mannheim Institute for Intelligent Systems in Medicine, Heidelberg University, Mannheim, Germany.
  • Jan Stallkamp
    Fraunhofer Institute for Manufacturing Engineering and Automation, Project Group for Automation in Medicine and Biotechnology, Mannheim, Germany. jan.stallkamp@medma.uni-heidelberg.de.

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