TY - GEN
T1 - Towards a modular, customizable robotic system for needle-based image-guided interventions
T2 - 17th IEEE International Conference on Bioinformatics and Bioengineering, BIBE 2017
AU - Navkar, Nikhil V.
AU - Barbosa, Leonardo
AU - Balakrishnan, Shidin
AU - Abinahed, Julien
AU - Ansari, Walid El
AU - Al-Rumaihi, Khalid
AU - Darweesh, Adham
AU - Al-Ansari, Abdulla
AU - Tsekos, Nikolaos V.
AU - Karkoub, Mansour
AU - Gharib, Mohamed
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/1
Y1 - 2017/7/1
N2 - Needle-based image-guided interventions (NB-IGI) are well established practices that are rapidly expanding to a wider range of therapeutic and diagnostic interventions due to their impact on clinical outcomes. In parallel, a number of robotic manipulators are emerging to increase accuracy, decrease inter-operator variabilities, and reduce the duration of the procedure. Most current systems are application-specific, thereby are appropriate for a limited number of procedures and further exacerbating the already rising costs of healthcare. In order to expand clinical usage of robotic NB-IGI, and eventually reduce the burden on healthcare costs, this paper proposes a modular, customizable robotic systems concept. The concept includes simplified hardware and control techniques, and initial results demonstrate that accuracy is within clinically acceptable limits. Preliminary designs, implementations, and assessments of the proposed system demonstrate its potential and clinical value.
AB - Needle-based image-guided interventions (NB-IGI) are well established practices that are rapidly expanding to a wider range of therapeutic and diagnostic interventions due to their impact on clinical outcomes. In parallel, a number of robotic manipulators are emerging to increase accuracy, decrease inter-operator variabilities, and reduce the duration of the procedure. Most current systems are application-specific, thereby are appropriate for a limited number of procedures and further exacerbating the already rising costs of healthcare. In order to expand clinical usage of robotic NB-IGI, and eventually reduce the burden on healthcare costs, this paper proposes a modular, customizable robotic systems concept. The concept includes simplified hardware and control techniques, and initial results demonstrate that accuracy is within clinically acceptable limits. Preliminary designs, implementations, and assessments of the proposed system demonstrate its potential and clinical value.
KW - Image Guided Intervention
KW - Medical Robots
KW - Modular Robots
KW - Needle Interventions
UR - https://www.scopus.com/pages/publications/85049520505
U2 - 10.1109/BIBE.2017.00-14
DO - 10.1109/BIBE.2017.00-14
M3 - Conference contribution
AN - SCOPUS:85049520505
T3 - Proceedings - 2017 IEEE 17th International Conference on Bioinformatics and Bioengineering, BIBE 2017
SP - 444
EP - 449
BT - Proceedings - 2017 IEEE 17th International Conference on Bioinformatics and Bioengineering, BIBE 2017
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 23 October 2017 through 25 October 2017
ER -