Skip to main content
Erschienen in: CardioVascular and Interventional Radiology 9/2018

06.06.2018 | Technical Note

Evaluation of the Needle Positioning Accuracy of a Light Puncture Robot Under MRI Guidance: Results of a Clinical Trial on Healthy Volunteers

verfasst von: Julien Ghelfi, Alexandre Moreau-Gaudry, Nikolai Hungr, Céline Fouard, Baptiste Véron, Maud Medici, Emilie Chipon, Philippe Cinquin, Ivan Bricault

Erschienen in: CardioVascular and Interventional Radiology | Ausgabe 9/2018

Einloggen, um Zugang zu erhalten

Abstract

Purpose

To assess the accuracy of Light Puncture Robot (LPR) as a patient-mounted robot, in positioning a sham needle under MRI guidance for abdominal percutaneous interventions.

Materials and Methods

This monocentric, prospective and non-controlled study was approved by the ethics review board. The study evaluated the accuracy of LPR V3 to achieve a virtual puncture in 20 healthy volunteers. Three trajectories were tried on each volunteer, under 3-T MRI guidance.

Results

Accuracy under 5 mm in attaining a 10 cm-deep target was reached in 72% of attempts after 2 robot motions with a median error of 4.1 mm [2.1; 5.1]. Median procedure time for one trajectory was 12.9 min [10.2; 18.0] and median installation time was 9.0 min [6.0; 13.0].

Conclusion

LPR accuracy in the deployment of a sham needle inside the MRI tunnel and its setup time are promising. Further studies need to be conducted to confirm these results before clinical trials.
Literatur
2.
Zurück zum Zitat Walsh C, Sapkota B, Kalra M, et al. Smaller and deeper lesions increase the number of acquired scan series in computed tomography-guided lung biopsy. J Thorac Imaging. 2011;26:196–203.CrossRefPubMed Walsh C, Sapkota B, Kalra M, et al. Smaller and deeper lesions increase the number of acquired scan series in computed tomography-guided lung biopsy. J Thorac Imaging. 2011;26:196–203.CrossRefPubMed
3.
Zurück zum Zitat Onik G, Cosman E, Wells T, et al. CT-guided aspirations for the body: comparison of hand guidance with stereotaxis. Radiology. 1988;166(2):389–94.CrossRefPubMed Onik G, Cosman E, Wells T, et al. CT-guided aspirations for the body: comparison of hand guidance with stereotaxis. Radiology. 1988;166(2):389–94.CrossRefPubMed
4.
Zurück zum Zitat Arnolli M, Hanumara N, Franken M, et al. An overview of systems for CT- and MRI-guided percutaneous needle placement in the thorax and abdomen. Int J Med Robot. 2015;11(4):458–75.CrossRefPubMed Arnolli M, Hanumara N, Franken M, et al. An overview of systems for CT- and MRI-guided percutaneous needle placement in the thorax and abdomen. Int J Med Robot. 2015;11(4):458–75.CrossRefPubMed
5.
Zurück zum Zitat Cleary K, Melzer A, Watson V, et al. Interventional robotic systems: applications and technology state of the art. Minim Invasive Ther Allied Technol. 2006;15(2):101–13.CrossRefPubMedPubMedCentral Cleary K, Melzer A, Watson V, et al. Interventional robotic systems: applications and technology state of the art. Minim Invasive Ther Allied Technol. 2006;15(2):101–13.CrossRefPubMedPubMedCentral
6.
Zurück zum Zitat Schell B, Eichler K, Mack MG, et al. Robot-assisted biopsies in a high-field MRI system—first clinical results. Rofo. 2012;184(1):42–7.CrossRefPubMed Schell B, Eichler K, Mack MG, et al. Robot-assisted biopsies in a high-field MRI system—first clinical results. Rofo. 2012;184(1):42–7.CrossRefPubMed
7.
Zurück zum Zitat Stoianovici D, Cleary K, Patriciu A, et al. AcuBot: a robot for radiological interventions. IEEE Trans Robot Autom. 2003;19(5):927–30.CrossRef Stoianovici D, Cleary K, Patriciu A, et al. AcuBot: a robot for radiological interventions. IEEE Trans Robot Autom. 2003;19(5):927–30.CrossRef
8.
Zurück zum Zitat Cleary K, Watson V, Lindisch D, et al. Precision placement of instruments for minimally invasive procedures using a “needle driver” robot. Int J Med Robot. 2005;1(2):40–7.CrossRefPubMed Cleary K, Watson V, Lindisch D, et al. Precision placement of instruments for minimally invasive procedures using a “needle driver” robot. Int J Med Robot. 2005;1(2):40–7.CrossRefPubMed
9.
Zurück zum Zitat Groetz S, Wilhelm K, Willinek W, et al. A new robotic assistance system for percutaneous CT-guided punctures: initial experience. Minim Invasive Ther Allied Technol. 2016;25(2):79–85.CrossRefPubMed Groetz S, Wilhelm K, Willinek W, et al. A new robotic assistance system for percutaneous CT-guided punctures: initial experience. Minim Invasive Ther Allied Technol. 2016;25(2):79–85.CrossRefPubMed
10.
Zurück zum Zitat Christoforou E, Seimenis I, Andreou E, et al. A novel, general-purpose, MR-compatible, manually actuated robotic manipulation system for minimally invasive interventions under direct MRI guidance. Int J Med Robot. 2014;10(1):22–34.CrossRefPubMed Christoforou E, Seimenis I, Andreou E, et al. A novel, general-purpose, MR-compatible, manually actuated robotic manipulation system for minimally invasive interventions under direct MRI guidance. Int J Med Robot. 2014;10(1):22–34.CrossRefPubMed
11.
Zurück zum Zitat Melzer A, Gutmann B, Remmele T, et al. Innomotion for percutaneous image-guided interventions: principles and evaluation of this MR- and CT-compatible robotic system. IEEE Eng Med Biol Mag. 2008;27(3):66–73.CrossRefPubMed Melzer A, Gutmann B, Remmele T, et al. Innomotion for percutaneous image-guided interventions: principles and evaluation of this MR- and CT-compatible robotic system. IEEE Eng Med Biol Mag. 2008;27(3):66–73.CrossRefPubMed
12.
Zurück zum Zitat Maurin B, Bayle B, Piccin O, et al. A patient-mounted robotic platform for CT-scan guided procedures. IEEE Trans Biomed Eng. 2008;55(10):2417–25.CrossRefPubMed Maurin B, Bayle B, Piccin O, et al. A patient-mounted robotic platform for CT-scan guided procedures. IEEE Trans Biomed Eng. 2008;55(10):2417–25.CrossRefPubMed
15.
Zurück zum Zitat Hungr N, Fouard C, Robert A, et al. Interventional radiology robot for CT and MRI guided percutaneous interventions. Med Image Comput Comput Assist Interv. 2011;14:137–44.PubMed Hungr N, Fouard C, Robert A, et al. Interventional radiology robot for CT and MRI guided percutaneous interventions. Med Image Comput Comput Assist Interv. 2011;14:137–44.PubMed
16.
Zurück zum Zitat Hungr N, Bricault I, Cinquin P, et al. Design and validation of a CT and MRI guided robot for percutaneous needle procedures. IEEE Trans Robot. 2016;32(4):973–87.CrossRef Hungr N, Bricault I, Cinquin P, et al. Design and validation of a CT and MRI guided robot for percutaneous needle procedures. IEEE Trans Robot. 2016;32(4):973–87.CrossRef
17.
Zurück zum Zitat Bricault I, Zemiti N, Jouniaux E, et al. Light puncture robot for CT and MRI interventions: designing a new robotic architecture to perform abdominal and thoracic punctures. IEEE Eng Med Biol Mag. 2008;27(3):42–50.CrossRefPubMed Bricault I, Zemiti N, Jouniaux E, et al. Light puncture robot for CT and MRI interventions: designing a new robotic architecture to perform abdominal and thoracic punctures. IEEE Eng Med Biol Mag. 2008;27(3):42–50.CrossRefPubMed
18.
Zurück zum Zitat Taillant E, Avila-Vilchis J, Allegrini C, et al. CT and MR compatible Light Puncture Robot: architectural design and first experiments. In: Barillot C, Haynor D, Hellier P, editors. Medical image computing and computer-assisted intervention—MICCAI, proceedings, part II. Saint-Malo, France: Springer; 2004. p. 145–152. Taillant E, Avila-Vilchis J, Allegrini C, et al. CT and MR compatible Light Puncture Robot: architectural design and first experiments. In: Barillot C, Haynor D, Hellier P, editors. Medical image computing and computer-assisted intervention—MICCAI, proceedings, part II. Saint-Malo, France: Springer; 2004. p. 145–152.
19.
Zurück zum Zitat Zemiti N, Bricault I, Fouard C, et al. LPR: a CT and MRI-compatible puncture robot to enhance accuracy and safety of image-guided interventions. IEEE/ASME Trans Mechatron. 2008;13(3):306–15.CrossRef Zemiti N, Bricault I, Fouard C, et al. LPR: a CT and MRI-compatible puncture robot to enhance accuracy and safety of image-guided interventions. IEEE/ASME Trans Mechatron. 2008;13(3):306–15.CrossRef
20.
Zurück zum Zitat Krieger A, Metzger G, Fichtinger G, et al. A hybrid method for 6-DOF tracking of MRI-compatible robotic interventional devices. In: Robotics Automation; 2006. p. 3844–3849. Krieger A, Metzger G, Fichtinger G, et al. A hybrid method for 6-DOF tracking of MRI-compatible robotic interventional devices. In: Robotics Automation; 2006. p. 3844–3849.
21.
Zurück zum Zitat Promayon E, Fouard C, Bailet M, et al. Using CamiTK for rapid prototyping of interactive computer assisted medical intervention applications. In: Conf Proc IEEE Eng Med Biol Soc; 2013. p. 4933–4936. Promayon E, Fouard C, Bailet M, et al. Using CamiTK for rapid prototyping of interactive computer assisted medical intervention applications. In: Conf Proc IEEE Eng Med Biol Soc; 2013. p. 4933–4936.
Metadaten
Titel
Evaluation of the Needle Positioning Accuracy of a Light Puncture Robot Under MRI Guidance: Results of a Clinical Trial on Healthy Volunteers
verfasst von
Julien Ghelfi
Alexandre Moreau-Gaudry
Nikolai Hungr
Céline Fouard
Baptiste Véron
Maud Medici
Emilie Chipon
Philippe Cinquin
Ivan Bricault
Publikationsdatum
06.06.2018
Verlag
Springer US
Erschienen in
CardioVascular and Interventional Radiology / Ausgabe 9/2018
Print ISSN: 0174-1551
Elektronische ISSN: 1432-086X
DOI
https://doi.org/10.1007/s00270-018-2001-5

Weitere Artikel der Ausgabe 9/2018

CardioVascular and Interventional Radiology 9/2018 Zur Ausgabe

Update Radiologie

Bestellen Sie unseren Fach-Newsletter und bleiben Sie gut informiert.