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

In this paper, we present a new point of view for the conception of what a teleoperated robotic device should be for percutaneous intervention with computed tomography guidance. We focus our attention on very common and widely used medical acts : the radiofrequency ablation and the biopsy procedure. These acts are widely used in manual interventional radiology, but they come up with others problems. First, the guidance precision is limited for a human, second, the radiologist risks its health by being exposed to X rays during each operation. The robotic system we describe is original by its conception and its control feedback (based on force feedback and vision). A prototype is presented, together with a complete workflow of the system. Some results present the first data acquired with the force feedback sensors.

• Type: Conference
• Year: 2004
• Where: CARS
• Authors: Benjamin Maurin, Olivier Piccin, Bernard Bayle, Jacques Gangloff, Michel de Mathelin, Luc Soler, Afshin Gangi
• Keywords: CARS 2004, Computed Tomography Guidance, Force Feedback, Medical Imaging, Teleoperated Robotic Device