Interventional Radiology - Original Article
Validation of a CT-guided intervention robot for biopsy and radiofrequency ablation: experimental study with an abdominal phantom
Department of Radiology, University of Ulsan College of Medicine, Asan Medical Center, Seoul, Korea
Department of Radiology, University of Ulsan College of Medicine, Asan Medical Center, Seoul, Korea; Department of Convergence Medicine, University of Ulsan College of Medicine, Asan Medical Center, Seoul, Korea
Corporate Technology Institute, Hyundai Heavy Industries Co. Ltd., Ulsan, Korea
Diagn Interv Radiol ; : -
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PURPOSE: The objective of this study was to evaluate the accuracy of a needle-placement robot for biopsy and radiofrequency ablation (RFA) on an abdominal phantom.
METHODS: A master-slave robotic system has been developed that includes a needle-path planning system and a needle-inserting robot arm with computed tomography (CT) and CT fluoroscopy guidance. For evaluation of its accuracy in needle placement, a commercially available abdominal phantom (Model 057A; CIRS, Norfolk, USA) was used. The liver part of the phantom contains multiple spherical simulated tumors of three different size spheres. Various needle insertion trials with two nodule sizes (10 mm and 20 mm in diameter) and four insertion angles (0, 15, 30 in the transverse plane, and 20 in the caudocranial plane) were performed. In addition, seven insertions on each nodule with 0 in the transverse plane were performed to test the reliability of this robot. A CT scan was performed after each trial with the needle in situ to assess accuracy.
RESULTS: The overall error was 2 (0-2.6) mm, which was calculated as the distance from the planned trajectory before insertion to the actual needle trajectory after insertion. The standard deviations of seven insertions on two nodules (10 mm and 20 mm in diameter) with 0 insertions were 0.5 mm and 0.2 mm, respectively.
CONCLUSION: The CT-compatible needle placement robot for biopsy and RFA shows relatively acceptable accuracy, and could be used for 1-cm nodule RF ablation under CT fluoroscopy guidance