Preliminary evaluation of robotic needle distal tip repositioning
Name
Slocum_Preliminary evaluation.pdf
Size
3 MB
Format
Adobe PDF
Checksum (MD5)
f4185e0a0a95593f6d2f0758b41f8336
Author(s)
Walsh, Conor J.
Slocum, Alexander H.
Gupta, Rajiv
Date Issued
February 2011
Journal
Proceedings of SPIE--the International Society for Optical Engineering; v. 7901
Publisher
SPIE
Citation
Walsh, Conor J., Alexander H. Slocum, and Rajiv Gupta. Preliminary Evaluation of Robotic Needle Distal Tip Repositioning. In Energy-based Treatment of Tissue and Assessment VI, edited by Thomas P. Ryan, 790108-790108-9. SPIE - International Society for Optical Engineering, 2011. © 2011 SPIE
Version
Final published version
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.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1117/12.876604
