Robot Assisted Needle Positioning System For Liver Biopsy

Medical needles are common devices used in percutaneous procedures, such as tissue sample removal, internal radiotherapy, and localized drug delivery. In daily practice, image guidance, e.g. X-ray and Ultrasound is used to localize the target.

Imaging during the insertion can be demanding in the sense of handling space and x-ray should be limited because it is potentially harmful for patients and staff. The success of these procedures depends on the accuracy and precision with which the target is reached. Organ motion caused by respiration, needle-tissue interactions and perturbations due to surrounding tissues mechanical resistance is among the main factors affecting the accuracy of needle placement.

Robotic control of needles has the potential to reach targets deep inside organs while responding to respiration movement.