A patient-mounted robotic platform for CT-scan guided procedures.
Fiche publication
Date publication
octobre 2008
Auteurs
Membres identifiés du Cancéropôle Est :
Pr GANGI Afshin
Tous les auteurs :
Maurin B, Bayle B, Piccin O, Gangloff J, de Mathelin M, Doignon C, Zanne P, Gangi A
Lien Pubmed
Résumé
In this paper, we present a novel robotic assistant dedicated to medical interventions under computed tomography scan guidance. This compact and lightweight patient-mounted robot is designed so as to fulfill the requirements of most interventional radiology procedures. It is built from an original 5 DOF parallel structure with a semispherical workspace, particularly well suited to CT-scan interventional procedures. The specifications, the design, and the choice of compatible technological solutions are detailed. A preclinical evaluation is presented, with the registration of the robot in the CT-scan.
Référence
IEEE Trans Biomed Eng. 2008 Oct;55(10):2417-25.