Observations And Experiments For The Definition Of A New Robotic Device Dedicated To CT, CBCT And MRI-Guided Percutaneous Procedures.
Fiche publication
Date publication
juillet 2018
Journal
Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
Auteurs
Membres identifiés du Cancéropôle Est :
Pr GANGI Afshin, Dr BARBE Laurent, Pr RENAUD Pierre, Dr CAZZATO Roberto-Luigi
Tous les auteurs :
Pfeil A, Barbe L, Wach B, Cazzato RL, Gangi A, Renaud P
Lien Pubmed
Résumé
In this paper, we present the work achieved to define the robotic functionalities of interest for percutaneous procedures as performed in interventional radiology. Our contributions are twofold. First, a detailed task analysis is performed with workflow analysis of biopsies, one of the most frequent tasks, under three imaging modalities, namely CT, CBCT and MRI. Second, the functionalities of a robotic assistant are identified, and we analyze whether a single device can bring an added value during procedures in the three modalities while keeping the robotized workflow close to manual tasks, to minimize learning time and difficulty of use. Experimental analysis on CBCT is notably used to confirm the interest of the determined robotic functionalities.
Mots clés
Humans, Magnetic Resonance Imaging, instrumentation, Radiology, instrumentation, Robotic Surgical Procedures, instrumentation, Robotics, instrumentation, Spiral Cone-Beam Computed Tomography, instrumentation, Workflow
Référence
Annu Int Conf IEEE Eng Med Biol Soc. 2018 07;2018:1708-1712