Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Characteristics of Needle Insertion Performance of Automated Biopsy Device for Robotic Needle Insertion Type Intervention: Insertion Depth and Accuracy

로봇 자동화 바늘삽입형 중재시술을 위한 자동화 생검장치의 바늘삽입 특성: 바늘삽입 깊이 및 삽입정확도

  • Moon, Youngjin (Biomedical Engineering Research Center, Asan Medical Center) ;
  • Choi, Jaesoon (Biomedical Engineering Research Center, Asan Medical Center)
  • 문영진 (서울아산병원 의공학연구소) ;
  • 최재순 (서울아산병원 의공학연구소)
  • Received : 2015.10.05
  • Accepted : 2016.04.04
  • Published : 2016.07.01
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Abstract

This paper presents the characteristics related to needle insertion of a robotic device for the automated biopsy procedure. The automated biopsy device, a main component of the robotic needle insertion type intervention system, allows performance of the full biopsy procedure, except for anesthesia, without direct handling of a radiologist or a tele-operated control. In this study, the needle length parameters corresponding to various insertion depths and precision for needle insertion of the automated biopsy device, are discussed. There were two combinations of needle length parameters for appropriate needle insertion and motion capture-based measurement was performed; 0.156 mm error for the 90 mm length commanded insertion displacement was measured. The pre-defined goal is a maximum 1 mm error and thus our measured error is within the acceptable range. In the repeatability check, it was also shown that the device can implement a highly accurate insertion.

Keywords

References

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