Preliminary evaluation of robotic needle distal tip repositioning
Author(s)Walsh, Conor J.; Slocum, Alexander H.; Gupta, Rajiv
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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.
DepartmentMassachusetts Institute of Technology. Department of Mechanical Engineering
Proceedings of SPIE--the International Society for Optical Engineering; v. 7901
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
Final published version