ArticleInternational journal of computer assisted radiology and surgery2021
Ultrasound-guided needle insertion robotic system for percutaneous puncture.
Article in International journal of computer assisted radiology and surgery, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 26 papers, 2 of them syntheses that pooled it.
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Who cites it
26 citing papers in PubMed, 2 syntheses or guidelines pooled it, 72 citations in OpenAlex.
- Do robotic needle systems improve precision and efficiency? Evidence from a systematic review and meta-analysis of clinical and preclinical studies.Journal of robotic surgery · 2026Pooled it
- An Update of In Vivo Application of Artificial Intelligence and Robotics for Percutaneous Nephrolithotripsy: Results from a Systematic Review.Current urology reports · 2023Pooled it
- A Randomized, Single-Blind Clinical Trial Comparing Robotic-Assisted Fluoroscopic-Guided with Ultrasound-Guided Renal Access for Percutaneous Nephrolithotomy.The Journal of urology · 2022Trial
- AURA-CVC: Autonomous Ultrasound-guided Robotic Assistance for Central Venous Catheterization.International journal of computer assisted radiology and surgery · 2026Article
- Robotic end effector for decompression of tension pneumothorax.International journal of computer assisted radiology and surgery · 2026Article
- FM-Adapt: Foundation model adaptation with photoacoustic-supervised learning for interventional ultrasound.Photoacoustics · 2026Article
- Simple Frame-based Approach for MR Imaging-guided Abdominal Biopsy: Preliminary Evaluation in a Phantom Model.Magnetic resonance in medical sciences : MRMS : an official journal of Japan Society of Magnetic Resonance in Medicine · 2026Article
- Low-Complexity Robotic Device for Magnetic Resonance Imaging-Guided Needle Biopsy.The international journal of medical robotics + computer assisted surgery : MRCAS · 2025Article
- Real-time 3D US-CT fusion-based semi-automatic puncture robot system: clinical evaluation.International journal of computer assisted radiology and surgery · 2025Article
- A Multifunctional Capsule-like Puncture Biopsy Robot for the Gastrointestinal System.Micromachines · 2025Article
- Evaluating the learning curve of total ultrasound guided percutaneous nephrolithotomy in complex renal stones using"30-degree triangulation"technique.World journal of urology · 2025Article
- Design and Evaluation of a Needle Manipulation System with EM Tracking for CT-Guided Spinal Injections.... International Symposium on Medical Robotics. International Symposium on Medical Robotics · 2025Article
- Advances of surgical robotics: image-guided classification and application.National science review · 2024Review
- Hybrid Deep Learning and Model-Based Needle Shape Prediction.IEEE sensors journal · 2024Article
- Feasibility and Safety of Percutaneous Puncture Guided by a 5G-Based Telerobotic Ultrasound System: An Experimental Study.Cardiovascular and interventional radiology · 2024Article
- Online advance respiration prediction model for percutaneous puncture robotics.International journal of computer assisted radiology and surgery · 2024Article
- Wearable Mechatronic Ultrasound-integrated AR Navigation System for Lumbar Puncture Guidance.IEEE transactions on medical robotics and bionics · 2023Article
- Optical Fiber-Based Needle Shape Sensing in Real Tissue: Single Core vs. Multicore Approaches.ArXiv · 2023Article
- Application of Medical Image Navigation Technology in Minimally Invasive Puncture Robot.Sensors (Basel, Switzerland) · 2023Review
- Feature pyramid self-attention network for respiratory motion prediction in ultrasound image guided surgery.International journal of computer assisted radiology and surgery · 2022Article
Corrections and comments
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Authors and funding
5 authors at 3 institutions in 1 country.
Funding
Abstract
purposeUltrasound (US)-guided percutaneous puncture technology can realize real-time, minimally invasive interventional therapy without radiation. The location accuracy of the puncture needle directly determines the precision and safety of the operation. It is a challenge for novices and young surgeons to perform a free-hand puncture guided by the ultrasound images to achieve the desired accuracy. This work aims to develop a robotic system to assist surgeons to perform percutaneous punctures with high precision.
methodsAn US-guided puncture robot was designed to allow the mounting and control of the needle to achieve localization and insertion. The US probe fitted within the puncture robot was held by a passive arm. Moreover, the puncture robot was calibrated with a novel calibration method to achieve coordinate transformation between the robot and the US image. The system allowed the operators to plan the puncture target and puncture path on US images, and the robot performed needle insertion automatically. Five groups of puncture experiments were performed to verify the validity and accuracy of the proposed robotic system.
resultsAssisted by the robotic system, the positioning and orientation accuracies of the needle insertion were 0.9 ± 0.29 mm and 0.76 ± 0.34°, respectively. These are improved compared with the results obtained with the free-hand puncture (1.82 ± 0.51 mm and 2.79 ± 1.32°, respectively). Moreover, the proposed robotic system can reduce the operation time and number of needle insertions (14.28 ± 3.21 s and one needle insertion, respectively), compared with the free-hand puncture (25.14 ± 6.09 s and 1.96 ± 0.68 needle insertions, respectively).
conclusionA robotic system for percutaneous puncture guided by US images was developed and demonstrated. The experimental results indicate that the proposed system is accurate and feasible. It can assist novices and young surgeons to perform the puncture operation with increased accuracy.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.