Journal of Biomedical Engineering Research (대한의용생체공학회:의공학회지)

The Korean Society of Medical and Biological Engineering (대한의용생체공학회)
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Robotized Percutaneous Biopsy

로봇을 이용한 경피 생체 검사

  • Son, Jaebum (Biomedical Engineering Branch, Division of Convergence Technology, National Cancer Center) ;
  • Kim, Kwang Gi (Biomedical Engineering Branch, Division of Convergence Technology, National Cancer Center)
  • 손재범 (국립암센터 융합기술연구부 의공학연구과) ;
  • 김광기 (국립암센터 융합기술연구부 의공학연구과)
  • Received : 2012.05.22
  • Accepted : 2012.07.13
  • Published : 2012.09.30
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Abstract

Biopsy is a type of histopathological examinations, in which a physician samples cells or tissues from a patient's suspicious lesion. Such a lesion frequently resides deep inside human body, and then a percutaneous biopsy is therefore performed using a thick needle with the assistance of medical imaging such as computed tomography(CT) and magnetic resonance imaging(MRI). Recently modern robotic technology is being introduced to percutaneous biopsy in order to reduce any possible human error and hazard on physicians caused by medical imaging. After medical imaging locates the exact location of lesion, an optimization algorithm plans the path for a biopsy needle. Subsequently, a robot system moves the biopsy needle to the lesion in accurate and safe way with the control of a practitioner or automatically. In this article, we try to look into the state-of-art of percutaneous biopsy using such robotic technology. We classified percutaneous biopsy robots by mechanical characteristics and by imaging technology. Then, advantage and disadvantage of each class type are described as well as the basic description, and a few representative designs for each type are introduced. Current research issues of robotized percutaneous biopsy are subjectively selected for the readers' convenience. We emphasize the basic technology of actuator and sensors compatible with imaging technology to conclude this review.

Keywords

References

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