Int J Med Robot - Development of a robotic FD-CT-guided navigation system for needle placement-preliminary accuracy tests.

Tópicos

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Resumo

CKGROUND: A needle placement system using a serial robot arm for manipulation of biopsy and/or treatment needles is introduced. A method for fast calibration of the robot and the preliminary accuracy tests of the robotic system are presented.METHODS: The setup consists of a DLR/KUKA Light Weight Robot III especially designed for safe human/robot interaction mounted on a mobile platform, a robot-driven angiographic C-arm system and a navigation system.RESULTS: Calibration of the robot with the navigation system has a residual error of 0.23 mm (rms) with a standard deviation of ? 0.1 mm. Needle targeting accuracy with different trajectories was 1.2 mm (rms) with a standard deviation of ? 0.4 mm.CONCLUSIONS: Robot absolute positioning accuracy was reduced to the navigation camera accuracy. The approach includes control strategies that may be very useful for interventional applications.

Resumo Limpo

ckground needl placement system use serial robot arm manipul biopsi andor treatment needl introduc method fast calibr robot preliminari accuraci test robot system presentedmethod setup consist dlrkuka light weight robot iii especi design safe humanrobot interact mount mobil platform robotdriven angiograph carm system navig systemresult calibr robot navig system residu error mm rms standard deviat mm needl target accuraci differ trajectori mm rms standard deviat mmconclus robot absolut posit accuraci reduc navig camera accuraci approach includ control strategi may use intervent applic

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