Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Robot End-effector for Biopsy Procedure Automation with Spring-Triggered Biopsy Gun Mechanism

스프링 격발형 생검총 구조를 가진 생검 시술 자동화 로봇 말단장치

  • Won, Jong-Seok (Biomedical Engineering Research Center, Asan Institute for Life Sciences, Asan Medical Center) ;
  • Moon, Youngjin (Biomedical Engineering Research Center, Asan Institute for Life Sciences, Asan Medical Center) ;
  • Park, Sang Hoon (Biomedical Engineering Research Center, Asan Institute for Life Sciences, Asan Medical Center) ;
  • Choi, Jaesoon (Biomedical Engineering Research Center, Asan Institute for Life Sciences, Asan Medical Center)
  • Received : 2016.05.27
  • Accepted : 2016.07.18
  • Published : 2016.08.01
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Abstract

Biopsy is a typical needle type intervention procedure performed under radiographic image equipment such as computed tomography (CT) and cone-beam CT. This minimal invasive procedure is a simple and effective way for identifying cancerous condition of a suspicious tissue but radiation exposure for the patients and interventional radiologists is a critical problem. In order to overcome such trouble and improve accuracy in targeting of the needle, there have been various attempts using robot technology. Those devices and systems, however, are not for full procedure automation in biopsy without consideration for tissue sampling task. A robotic end-effector of a master-slave tele-operated needle type intervention robot system has been proposed to perform entire biopsy procedure by the authors. However, motorized sampling adopted in the device has different cutting speed from that of biopsy guns used in the conventional way. This paper presents the design of a novel robotic mechanism and protocol for the automation of biopsy procedure using spring-triggered biopsy gun mechanism. An experimental prototype has been successfully fabricated and shown its feasibility of the automated biopsy sequence.

Keywords

References

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