ArticleCardiovascular and interventional radiology2022
Robotic Assistance System for Cone-Beam Computed Tomography-Guided Percutaneous Needle Placement.
Article in Cardiovascular and interventional radiology, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 8 papers.
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Who cites it
8 citing papers in PubMed, 12 citations in OpenAlex.
- Flexible intervention workflow for MRI guided robotic prostate seed brachytherapy.Journal of applied clinical medical physics · 2026Article
- Multimodal CT-ultrasound image-guided robotic system for automated abdominal puncture.Journal of robotic surgery · 2026Article
- Fine needle assisted puncture positioning technique for CT-guided percutaneous interventions.Frontiers in oncology · 2026Article
- Review
- A Review of Needle Navigation Technologies in Minimally Invasive Cardiovascular Surgeries-Toward a More Effective and Easy-to-Apply Process.Diagnostics (Basel, Switzerland) · 2025Review
- A semi-automated robotic system for percutaneous interventions.International journal of computer assisted radiology and surgery · 2023Article
- Evaluation of Accuracy and Performance of a Novel, Fully Gantry Integrated 3D Laser System for Computed Tomography Guided Needle Placement: A Phantom Study.Diagnostics (Basel, Switzerland) · 2023Article
- Learning Needle Placement in Soft Tissue With Robot-assisted Navigation.In vivo (Athens, Greece)Article
Corrections and comments
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Authors and funding
8 authors at 3 institutions in 2 countries.
Funding
No grant is acknowledged in the PubMed record.
Abstract
purposeThe study aimed to evaluate a new robotic assistance system (RAS) for needle placement in combination with a multi-axis C-arm angiography system for cone-beam computed tomography (CBCT) in a phantom setting. MATERIALS AND
methodsThe RAS consisted of a tool holder, dedicated planning software, and a mobile platform with a lightweight robotic arm to enable image-guided needle placement in conjunction with CBCT imaging. A CBCT scan of the phantom was performed to calibrate the robotic arm in the scan volume and to plan the different needle trajectories. The trajectory data were sent to the robot, which then positioned the tool holder along the trajectory. A 19G needle was then manually inserted into the phantom. During the control CBCT scan, the exact needle position was evaluated and any possible deviation from the target lesion measured.
resultsIn total, 16 needle insertions targeting eight in- and out-of-plane sites were performed. Mean angular deviation from planned trajectory to actual needle trajectory was 1.12°. Mean deviation from target point and actual needle tip position was 2.74 mm, and mean deviation depth from the target lesion to the actual needle tip position was 2.14 mm. Mean time for needle placement was 361 s. Only differences in time required for needle placement between in- and out-of-plane trajectories (337 s vs. 380 s) were statistically significant (p = 0.0214).
conclusionUsing this RAS for image-guided percutaneous needle placement with CBCT was precise and efficient in the phantom setting.
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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.