ArticleScientific reports2021
Feasibility, safety and accuracy of a CT-guided robotic assistance for percutaneous needle placement in a swine liver model.
Article in Scientific reports, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. An erratum has been issued. Cited by 23 papers, 2 of them syntheses that pooled it.
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Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Who cites it
23 citing papers in PubMed, 2 syntheses or guidelines pooled it, 40 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
- Democratization in abdominal ablation therapies: The impact of percutaneous robotic assistance on accuracy-A systematic review.Journal of robotic surgery · 2025Pooled it
- Clinical evaluation of the effectiveness of laser localization system in CT-guided percutaneous lung puncture positioning: a prospective randomized controlled pilot study.Quantitative imaging in medicine and surgery · 2026Article
- Precise localization techniques for small pulmonary nodules: what is next?Journal of thoracic disease · 2025Review
- CT-guided needle insertion with an optical navigation robot-assisted puncture system:Quantitative imaging in medicine and surgery · 2025Article
- The clinical performance of robotic assisted navigation system versus conventional freehand technique for percutaneous transthoracic needle biopsy.Scientific reports · 2025Article
- An ultrasound visual servoing dual-arm robotics system for needle placement in brachytherapy treatment.Frontiers in robotics and AI · 2025Article
- Review of robotic systems for thoracoabdominal puncture interventional surgery.APL bioengineering · 2024Review
- Robotic Assistance in Percutaneous Liver Ablation Therapies: A Systematic Review and Meta-Analysis.Annals of surgery open : perspectives of surgical history, education, and clinical approaches · 2024Article
- CRANE: A Redundant, Multi-Degree-of-Freedom Computed Tomography Robot for Heightened Needle Dexterity within a Medical Imaging Bore.IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society · 2024Article
- Robotic systems in interventional oncology: a narrative review of the current status.International journal of clinical oncology · 2024Review
- Robotic-assisted navigation system for preoperative lung nodule localization: a pilot study.Translational lung cancer research · 2023Article
- New Developments in Image-Guided Percutaneous Irreversible Electroporation of Solid Tumors.Current oncology reports · 2023Review
- Application of Medical Image Navigation Technology in Minimally Invasive Puncture Robot.Sensors (Basel, Switzerland) · 2023Review
- Thermal ablation of ultrasound and non-contrast computed tomography invisible primary and secondary liver tumors: targeting by selective intra-arterial lipiodol injection.Diagnostic and interventional radiology (Ankara, Turkey) · 2023Article
- Current State of Robotics in Interventional Radiology.Cardiovascular and interventional radiology · 2023Review
- Evaluation of a New CT-Guided Robotic System for Percutaneous Needle Insertion for Thermal Ablation of Liver Tumors: A Prospective Pilot Study.Cardiovascular and interventional radiology · 2022Article
- Thermal ablation of the most challenging cases of liver metastases.The British journal of radiology · 2022Article
- Robotic Tissue Sampling for Safe Post-Mortem Biopsy in Infectious Corpses.IEEE transactions on medical robotics and bionics · 2022Article
- Robotic Assistance System for Cone-Beam Computed Tomography-Guided Percutaneous Needle Placement.Cardiovascular and interventional radiology · 2022Article
Corrections and comments
- Erratum issued
Authors and funding
4 authors at 4 institutions in 1 country.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Evaluate the feasibility, safety and accuracy of a CT-guided robotic assistance for percutaneous needle placement in the liver. Sixty-six fiducials were surgically inserted into the liver of ten swine and used as targets for needle insertions. All CT-scan acquisitions and robotically-assisted needle insertions were coordinated with breath motion using respiratory monitoring. Skin entry and target points were defined on planning CT-scan. Then, robotically-assisted insertions of 17G needles were performed either by experienced interventional radiologists or by a novice. Post-needle insertion CT-scans were acquired to assess accuracy (3D deviation, ie. distance from needle tip to predefined target) and safety. All needle insertions (43/43; median trajectory length = 83 mm (interquartile range [IQR] 72-105 mm) could be performed in one (n = 36) or two (n = 7) attempts (100% feasibility). Blinded evaluation showed an accuracy of 3.5 ± 1.3 mm. Accuracy did not differ between novice and experienced operators (3.7 ± 1.3 versus 3.4 ± 1.2 mm, P = 0.44). Neither trajectory angulation nor trajectory length significantly impacted accuracy. No complications were encountered. Needle insertion using the robotic device was shown feasible, safe and accurate in a swine liver model. Accuracy was influenced neither by the trajectory length nor by trajectory angulations nor by operator's experience. A prospective human clinical trial is recruiting.
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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.