This paper presents a new robotic framework for assisted CT-guided percutaneous procedures with force feedback and automatic patient-to-image registration of needle. The purpose is to help practitioners in performing accurate needle insertion while preserving them from harmful intra-operative X-rays imaging devices. Starting from medical requirements for needle insertions in the liver under CT-scan, a description of a dedicated parallel robot is made. Its geometrical and physical properties are explained. The design is mainly based on the accuracy and safety constraints. A real prototype is presented that is currently tested. © Springer-Verlag Berlin Heidelberg 2004.
CITATION STYLE
Maurin, B., Gangloff, J., Bayle, B., De Mathelin, M., Piccin, O., Zanne, P., … Gangi, A. (2004). A parallel robotic system with force sensors for percutaneous procedures under CT-guidance. In Lecture Notes in Computer Science (Vol. 3217, pp. 176–183). Springer Verlag. https://doi.org/10.1007/978-3-540-30136-3_23
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