Robot-Assisted 2D Fluoroscopic Needle Placement—A Phantom Study
Abstract
:1. Introduction
2. Materials and Methods
2.1. Phantom
2.2. Robotic Navigation System
2.3. Experimental Workflow
2.4. Evaluation
3. Results
3.1. Angle Accuracy Comparison
3.2. Accuracy and Target Depth
3.3. Procedural Time
4. Discussion
4.1. Imaging Modalities
4.2. Robotic Systems
4.3. Combination of Robotic Device with C-Arm
4.4. Accuracy
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
References
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Angle | ED | ND |
---|---|---|
45° | 2.32 mm (SD ± 0.16) | 1.86 mm (SD ± 0.19) |
60° | 2.68 mm (SD ± 0.18) | 2.68 mm (SD ± 0.18) |
75° | 2.65 mm (SD ± 0.16) | 2.19 mm (SD ± 0.18) |
90° | 2.44 mm (SD ± 0.15) | 1.86 mm (SD ± 0.18) |
Angle | Image Acquisition | Trajectory Planning | Positioning | Total |
---|---|---|---|---|
45° | 5.2 (2.9–7.5) | 3.5 (2.7–5.0) | 2.7 (2.3–3) | 11.4 (10.1–13.5) |
60° | 9.2 (4.7–16.6) | 3.1 (2.8–3.5) | 2.7 (2.4–3.1) | 15.1 (10.2–22.6) |
75° | 6.9 (3.1–16.9) | 3.1 (2.2–3.5) | 3.0 (2.3–3.2) | 13.0 (9.3–22.9) |
90° | 5.7 (2.5–10.4) | 2.7 (1.1–4.0) | 2.9 (2.4–3.1) | 11.4 (8.0–16.8) |
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Scharll, Y.; Radojicic, N.; Laimer, G.; Schullian, P.; Bale, R. Robot-Assisted 2D Fluoroscopic Needle Placement—A Phantom Study. Diagnostics 2024, 14, 1723. https://doi.org/10.3390/diagnostics14161723
Scharll Y, Radojicic N, Laimer G, Schullian P, Bale R. Robot-Assisted 2D Fluoroscopic Needle Placement—A Phantom Study. Diagnostics. 2024; 14(16):1723. https://doi.org/10.3390/diagnostics14161723
Chicago/Turabian StyleScharll, Yannick, Nenad Radojicic, Gregor Laimer, Peter Schullian, and Reto Bale. 2024. "Robot-Assisted 2D Fluoroscopic Needle Placement—A Phantom Study" Diagnostics 14, no. 16: 1723. https://doi.org/10.3390/diagnostics14161723