ORIGINAL ARTICLE Robot-Assisted Biopsy Using Computed Tomography-Guidance Initial Results From In Vitro Tests (2004)
BibTeX
@MISC{Kettenbach04originalarticle,
author = {Joachim Kettenbach and Gernot Kronreif and Michael Figl and Martin Fürst and Wolfgang Birkfellner and Rudolf Hanel and Wolfgang Ptacek and Helmar Bergmann Phd},
title = {ORIGINAL ARTICLE Robot-Assisted Biopsy Using Computed Tomography-Guidance Initial Results From In Vitro Tests},
year = {2004}
}
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Abstract
Purpose: We sought to develop a robotic system for computed tomography (CT)-guided biopsy to validate the feasibility, accuracy, and efficacy of the system using phantom tests. Materials and Methods: Ten peas (mean diameter 9.9 � 0.4 mm) embedded within a gel phantom were selected for biopsy. Once the best access was defined on CT images, the position of the phantom was recorded by an optical tracking system. Positional data about the phantom and the corresponding CT image was transferred to the robot planning system (Linux-based industrial PC equipped with video capture card). Once the appropriate position, angulation, and pitch were calculated, the robotic arm moved automatically with 7 degrees-of-freedom to the planned insertion path, aiming the needletrajectory at the center of the target. Then, the biopsy was performed manually using a coaxial technique. The length of all harvested specimens was measured and short cut pieces of a guidewire were
