Does needle rotation improve lesion targeting?

Background Image‐guided robots are manipulators that operate based on medical images. Perhaps the most common class of image‐guided robots are robots for needle interventions. Typically, these robots actively position and/or orient a needle guide, but needle insertion is still done by the physician....

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Bibliographic Details
Published in:The international journal of medical robotics + computer assisted surgery 2011-06, Vol.7 (2), p.138-147
Main Authors: Badaan, Shadi, Petrisor, Doru, Kim, Chunwoo, Mozer, Pierre, Mazilu, Dumitru, Gruionu, Lucian, Patriciu, Alex, Cleary, Kevin, Stoianovici, Dan
Format: Article
Language:English
Subjects:
Biomechanical Phenomena
Computers
Device driver programs
Devices
Equipment Design
Gelatin
Humans
image guide
Insertion
Medical
Medical Errors - prevention & control
Models, Statistical
needle driver
Needles
Phantoms, Imaging
Reproducibility of Results
robot
Robotics
Robotics - instrumentation
Robotics - methods
Robots
Rotation
Surgery, Computer-Assisted - methods
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Summary:Background Image‐guided robots are manipulators that operate based on medical images. Perhaps the most common class of image‐guided robots are robots for needle interventions. Typically, these robots actively position and/or orient a needle guide, but needle insertion is still done by the physician. While this arrangement may have safety advantages and keep the physician in control of needle insertion, actuated needle drivers can incorporate other useful features. Methods We first present a new needle driver that can actively insert and rotate a needle. With this device we investigate the use of needle rotation in controlled in‐vitro experiments performed with a specially developed revolving needle driver. Results These experiments show that needle rotation can improve targeting and may reduce errors by as much as 70%. Conclusion The new needle driver provides a unique kinematic architecture that enables insertion with a compact mechanism. Perhaps the most interesting conclusion of the study is that lesions of soft tissue organs may not be perfectly targeted with a needle without using special techniques, either manually or with a robotic device. The results of this study show that needle rotation may be an effective method of reducing targeting errors. Copyright © 2011 John Wiley & Sons, Ltd.
ISSN:1478-5951
1478-596X
1478-596X
DOI:10.1002/rcs.381