Robotic Needle End Effector for Integration with CT Scan

Team Members:Team Members:

David SunDavid Sun

Xuan TruongXuan Truong

Chris WillinghamChris Willingham

Advisor: Advisor:

Dr. Bradford WoodDr. Bradford Wood

Problem Statement

AdvantagesAdvantages Real timeReal time Faster and more Faster and more

accurate than accurate than traditional traditional methodsmethods

Guidance for Guidance for interventional interventional proceduresprocedures

Greater success Greater success raterate

DisadvantagesDisadvantages RadiationRadiation

- 2 mGy/procedure- 2 mGy/procedure

- annual limit 500- annual limit 500

CT Fluoroscopy

A robotic system which reduces radiation exposure A robotic system which reduces radiation exposure while performing these procedures with greater while performing these procedures with greater accuracy and precision is feasible. One of the primary accuracy and precision is feasible. One of the primary limitations to this system is its ability to place limitations to this system is its ability to place biopsy/ablation instruments with the “touch” that a biopsy/ablation instruments with the “touch” that a skilled physician provides.skilled physician provides.

Performance Criteria

A successful resolution to this problem would A successful resolution to this problem would address several factors:address several factors: Respiratory movement in the craniocaudal axis Respiratory movement in the craniocaudal axis

must be allowed formust be allowed for Grips for various instruments must be provided Grips for various instruments must be provided

at a common interfaceat a common interface 6+ degrees of freedom must be allowed for6+ degrees of freedom must be allowed for

Primary Objective

To design an end-effector for a surgical system To design an end-effector for a surgical system that will allow placement of biopsy/ablation that will allow placement of biopsy/ablation needles in a CT environment:needles in a CT environment: Will accommodate a variety of needle Will accommodate a variety of needle

gaugesgauges Provide a mechanism for an instrument Provide a mechanism for an instrument

which is rigid during placement, yet unlocks which is rigid during placement, yet unlocks rapidly to allow for respiratory movementrapidly to allow for respiratory movement

Will interface with a specific robotic arm, Will interface with a specific robotic arm, but be easily adaptable for other systemsbut be easily adaptable for other systems

Solution Description

Modification of a current heart stabilizer to meet Modification of a current heart stabilizer to meet performance criteriaperformance criteria

Factors Affecting Performance

Acceptance, testing, and Acceptance, testing, and prototyping cost of the designprototyping cost of the design

Ability to visualize the insertion Ability to visualize the insertion point of the needlepoint of the needle

Electrical interface necessary for Electrical interface necessary for performanceperformance

System and Environment

This video demonstrates the arm we will be working This video demonstrates the arm we will be working with, with a “dummy” end-effector utilized:with, with a “dummy” end-effector utilized:

StatusArranged weekly conference calls with Dr. WoodArranged weekly conference calls with Dr. Wood

Continuing literature reviewContinuing literature review

Updated all information and references on the Updated all information and references on the websitewebsite

Obtained images and video of robotic arm to be Obtained images and video of robotic arm to be used, including rough measurements (still trying to used, including rough measurements (still trying to secure a model, CAD, or precise measurements)secure a model, CAD, or precise measurements)

Contacted Dr. Lee Gorden & Dr. Ron Price regarding Contacted Dr. Lee Gorden & Dr. Ron Price regarding observation of CT based proceduresobservation of CT based procedures

Obtained current patents and operational Obtained current patents and operational specifications for the FlexSite devicespecifications for the FlexSite device

Conducting patent search for similar devicesConducting patent search for similar devices

Obtained Solid Edge software and started training in Obtained Solid Edge software and started training in its useits use

Informal Observations and Questions

Will images and description of the method in Will images and description of the method in which CT procedures are currently performed which CT procedures are currently performed be useful in the next presentation?be useful in the next presentation?

So far, this is a very qualitative process—prior So far, this is a very qualitative process—prior to the mechanical design, what type of to the mechanical design, what type of quantitative information should be included?quantitative information should be included?

A working robotic model is not likely given the A working robotic model is not likely given the focus of our robotics labs—will a mechanical focus of our robotics labs—will a mechanical model with the appropriate interface suffice?model with the appropriate interface suffice?

Conclusions

The design idea is progressing well, although the The design idea is progressing well, although the modification of a marketed technology will necessitate modification of a marketed technology will necessitate more in depth research regarding the current patent and more in depth research regarding the current patent and potential design modifications.potential design modifications.An interface for the needles must be considered, and An interface for the needles must be considered, and although this is non-trival, multiple systems utilize this although this is non-trival, multiple systems utilize this technique, and should be easily adaptable.technique, and should be easily adaptable.More quantitative information is needed to validate the More quantitative information is needed to validate the usefulness of the design in a non-academic setting. usefulness of the design in a non-academic setting. Where can we find information on the number of Where can we find information on the number of surgically procedures of a certain type that are surgically procedures of a certain type that are performed nationally and at specific surgical centers?performed nationally and at specific surgical centers?

References

Robotically Drive Intervention: A Robotically Drive Intervention: A method of Using CT Fluoroscopy without method of Using CT Fluoroscopy without Radiation Exposure to the Physician. Radiation Exposure to the Physician. Radiology 2002. Volume 225-Number 1.Radiology 2002. Volume 225-Number 1. AcuBot: A Robot for Radiological AcuBot: A Robot for Radiological Interventions. Interventions. IEEE-TR&A.IEEE-TR&A.State of the Art in Surgical Robotics:Clinical Applications and Technology Challenges. Computer Aided Surgery, August 2001.

Contact

David SunDavid Sun

david.d.sun@vanderbilt.edudavid.d.sun@vanderbilt.edu

Xuan TruongXuan Truong

xuan.t.truong@vanderbilt.eduxuan.t.truong@vanderbilt.edu

Chris WillinghamChris Willingham

jc.willin@vanderbilt.edujc.willin@vanderbilt.edu