Review of Robotic Needle Guide Systems for Percutaneous Intervention
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Annals of Biomedical Engineering (Ó 2019) https://doi.org/10.1007/s10439-019-02319-9
Review of Robotic Needle Guide Systems for Percutaneous Intervention PANKAJ KULKARNI, SAKURA SIKANDER, PRADIPTA BISWAS, SHAWN FRAWLEY, and SANG-EUN SONG Department of Mechanical and Aerospace Engineering, University of Central Florida, 12760 Pegasus Dr., ENGR 1, Room 307, Orlando, FL 32816-2450, USA (Received 27 March 2019; accepted 2 July 2019) Associate Editor Ka-Wai Kwok oversaw the review of this article.
Abstract—Numerous research groups in the past have designed and developed robotic needle guide systems that improve the targeting accuracy and precision by either providing a physical guidance for manual insertion or enabling a complete automated intervention. Here we review systems that have been reported in the last 11 years and limited to straight line needle interventions. Most systems fall under the category of image guided systems as they either use magnetic resonance image, computed tomography, ultrasound or a combination of these modalities for real time image feedback of the intervention path being followed. Actuation and control technology along with materials used for construction are the main aspects that differentiate these systems from each other and have been reviewed here. Image compatibility test details and results are also reviewed as they are used to ensure proper functioning of these systems under the respective imaging environments. We have also reviewed needle guide systems which either don’t use any image feedback or have not reported any but provide physical guidance. Throughout this paper, we provide a comprehensive review of the technological aspects and trends in the field of robotic, straight line, needle guide intervention systems. Keywords—Image guided, MRI, Needle insertion, Percutaneous therapy, Biopsy, Robotics.
INTRODUCTION Design and development of robotic needle guide systems for percutaneous interventions has seen significant research activities in last decade or two under the broad spectrum of interventional, surgical, or medical robotics for minimally invasive surgery. One of the reasons is the fundamental capability of a robotic system to accurately and precisely guide a needle to the desired target, compared to a complete manual Address correspondence to Sang-Eun Song, Department of Mechanical and Aerospace Engineering, University of Central Florida, 12760 Pegasus Dr., ENGR 1, Room 307, Orlando, FL 32816-2450, USA. Electronic mail: [email protected]
procedure which is often dependent on the variables such as the physician’s expertise, inherent human factors, accessibility to the tissue, etc. Percutaneous procedures are required for multiple reasons including tissue biopsy for cancer diagnosis or cancer tumor treatments such as Radio Frequency Ablation (RFA), cryoablation, or procedures such as blood sampling. While going through research work of various groups we realized that there has been substantial work in the development of magnetic resonance image (MRI) guided robotic systems for
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