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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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

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. 1

Robotic mechanism for automatic biopsy



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