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Proceedings Article

Preliminary evaluation of robotic needle distal tip repositioning

[+] Author Affiliations
Conor J. Walsh

Massachusetts General Hospital (USA) and Massachusetts Institute of Technology (USA)

Alexander H. Slocum

Massachusetts Institute of Technology (USA)

Rajiv Gupta

Massachusetts General Hospital (USA)

Proc. SPIE 7901, Energy-based Treatment of Tissue and Assessment VI, 790108 (February 22, 2011); doi:10.1117/12.876604
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From Conference Volume 7901

  • Energy-based Treatment of Tissue and Assessment VI
  • Thomas P. Ryan
  • San Francisco, California, USA | January 22, 2011

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.

© (2011) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Citation

Conor J. Walsh ; Alexander H. Slocum and Rajiv Gupta
"Preliminary evaluation of robotic needle distal tip repositioning", Proc. SPIE 7901, Energy-based Treatment of Tissue and Assessment VI, 790108 (February 22, 2011); doi:10.1117/12.876604; http://dx.doi.org/10.1117/12.876604


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