This paper present the current state of the ROBEA project IRASIS whose goal is to design a robotic system for needle insertion under CT-guidance. To do so, a new stereotactic robotic needle positioning assistant for percutaneous procedures has been designed and built. This system, called the CT-Bot, is compatible with the medical requirements and offers an innovative approach to robotic needle ...

The "robotic-assisted liver tumor coagulation therapy" (RALTCT) system is a promising candidate for large liver tumor treatment in terms of accuracy and speed. A prerequisite for effective therapy is accurate surgical planning. However, it is difficult for the surgeon to perform surgical planning manually due to the difficulties associated with robot-assisted large liver tumor therapy. These ma...

A navigation system for radiological interventions (CAS-One IR, CAScination, Bern) has been used to evaluate three different needle insertion methods on a non-rigid liver phantom. The insertion methods under investigation include: navigated free-hand needle insertion, aiming device-based insertion with active depth control and aiming device-based needle insertion with passive depth control. For...

introduction: determining the proper angle for inserting central venous catheter (cv line) is of great importance for decreasing the complications and increasing success rate. the present study was designed to determine the proper angle of needle insertion for internal jugular vein catheterization.  methods: in the present case series study, candidate patients for catheterization of the right i...

OBJECTIVES For needle insertion and guidewire placement during central venous catheterization, a thin-wall introducer needle technique and a cannula-over-needle technique have been used. This study compared these two techniques regarding the success rates and complications during internal jugular vein catheterization. DESIGN Prospective, randomized, controlled study. SETTING A university-af...

In this paper we propose an automated method to reconstruct the 3D needle shape during needle insertion procedures using only 2D transverse ultrasound (US) images. Using a set of transverse US images, image processing and random sample consensus (RANSAC) is used to locate the needle within each image and estimate the needle shape. The method is validated with an in-vitro needle insertion setup ...

BACKGROUND Many surgeries are performed under spinal anesthesia. Inexperienced practitioners may find it difficult to obtain subarachnoid access. OBJECTIVES This study aimed to examine the relationship between patients' anthropometric characteristics and depth of spinal needle insertion to the subarachnoid cavity. PATIENTS AND METHODS 385 patients with ASA class I - II, aged 18 - 65 years a...

Minimally invasive medical procedures such as biopsies, anesthesia drug injections, and brachytherapy cancer treatments require inserting a needle to a specific target inside soft tissue. This is difficult because needle insertion displaces and deforms the surrounding soft tissue causing the target to move during the procedure. To facilitate physician training and pre-operative planning for the...

PURPOSE This paper is mainly about biomechanical behavior of needle insertion into cornea, and proposes a failure criterion to simulate the insertion process which has attracted considerable attention due to its importance for the minimally invasive treatment. METHODS In the process of needle insertion into cornea, tiny and complex insertion force is generated due to contact between needle an...

Flexible needle insertion into viscoelastic tissue is modeled in this paper with a linear beam supported by virtual springs. Using this simplified model, the forward and inverse kinematics of the needle is solved analytically, providing a way for simulation and path planning in real-time. Using the inverse kinematics, the required needle basis trajectory can be computed for any desired needle t...