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Special Section Technical Briefs

Spring-Loaded Type Robotic Mechanism and Sequential Procedure for Automatic Biopsy1

[+] Author and Article Information
Youngjin Moon

Biomedical Engineering Research Center,
Asan Institute for Life Sciences,
Asan Medical Center,
Seoul 138-736, Korea

Jongseok Won

Graduate School of Convergence
Science and Technology,
Seoul National University,
Seoul 151-742, Korea

Jaesoon Choi

Biomedical Engineering Research Center,
Asan Institute for Life Sciences,
Asan Medical Center,
Seoul 138-736, Korea;
College of Medicine,
University of Ulsan,
Ulsan 680-749, Korea

Accepted and presented at The Design of Medical Devices Conference (DMD2015), April 13-16, 2015, Minneapolis, MN, USA.

Manuscript received March 3, 2015; final manuscript received March 17, 2015; published online April 24, 2015. Editor: Arthur Erdman.

J. Med. Devices 9(2), 020941 (Jun 01, 2015) (3 pages) Paper No: MED-15-1134; doi: 10.1115/1.4030148 History: Received March 03, 2015; Revised March 17, 2015; Online April 24, 2015

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References

Choo, J. Y., Park, C. M., Lee, N. K., Lee, S. M., Lee, H.-J., and Goo, J. M., 2013, “Percutaneous Transthoracic Needle Biopsy of Small (1 cm) Lung Nodules Under C-Arm Cone-Beam CT Virtual Navigation Guidance,” Eur. Radiol., 23(3), pp. 712–719. [CrossRef] [PubMed]
Schueler, B. A., 2010, “Operator Shielding: How and Why,” Tech. Vasc. Interventional Radiol., 13(3), pp. 167–171. [CrossRef]
Melzer, A., Gutmann, B., Remmele, T., Wolf, R., Lukoscheck, A., Bock, M., Bardenheuer, H., and Fischer, H., 2008, “Innomotion for Percutaneous Image-Guided Interventions,” IEEE Eng. Med. Biol. Mag., 27(3), pp. 66–73. [CrossRef] [PubMed]
Walsh, C., Hanumara, N., Slocum, A., Shepard, J., and Gupta, R., 2008, “A Patient-Mounted, Telerobotic Tool for CT-Guided Percutaneous Interventions,” ASME J. Med. Devices, 2(1), p. 011007. [CrossRef]
Stoianovici, D., Cleary, K., Patriciu, A., Mazilu, D., Stanimir, A., Craciunoiu, N., Watson, V., and Kavoussi, L., 2003, “Acubot: A Robot for Radiological Interventions,” IEEE Trans. Rob. Autom., 19(5), pp. 927–930. [CrossRef]
Bebek, O., Hwang, M. J., and Cavusoglu, M. C., 2013, “Design of a Parallel Robot for Needle-Based Interventions on Small Animals,” IEEE/ASME Trans. Mechatron., 18(1), pp. 62–73. [CrossRef]
iSYS, 2015, “Interventional Systems Driven by Innovation,” iSYS Medizintechnik GmbH, Kitzbühel Austria, http://www.isys.co.at/
Koethe, Y., Xu, S., Velusamy, G., Wood, B. J., and Venkatesan, A. M., 2014, “Accuracy and Efficacy of Percutaneous Biopsy and Ablation Using Robotic Assistance Under Computed Tomography Guidance: A Phantom Study,” Eur. Radiol., 24(3), pp. 723–730. [CrossRef] [PubMed]
Moon, Y., and Choi, J., 2013, “Development of a Robotic Mechanism for Teleoperation-Based Needle Interventions,” 44th International Symposium on Robotics (ISR), Seoul, Korea, Oct. 24–26 [CrossRef].

Figures

Grahic Jump Location
Fig. 1

Robotic mechanism for automatic biopsy

Grahic Jump Location
Fig. 2

Each phase of robotic biopsy procedure (GN, BN, ST, and SH denote guide needle, biopsy needle, stylet, and sheath, respectively)

Grahic Jump Location
Fig. 3

Main motions of the mechanism: (a) needle insertion, (b) triggering for tissue cutting, (c) reloading the spring, and (d) return of the sheath of the guide needle

Grahic Jump Location
Fig. 4

Motion change in each phase

Grahic Jump Location
Fig. 5

Accuracy and repeatability test

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