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Title:

Image Guided Robotic Biopsy

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Image Guided Robotic Biopsy Group Members: Ryan Augustine Nate Gaeckle Brian Frederick Gordy Lawrence Advisor: Dr. Naomi Chesler Client: Dr. Myron Pozniak – PowerPoint PPT presentation

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Tags: biopsy | guided | image | robotic

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Title: Image Guided Robotic Biopsy


1
Image Guided Robotic Biopsy
  • Group Members
  • Ryan Augustine
  • Nate Gaeckle
  • Brian Frederick
  • Gordy Lawrence
  • Advisor Dr. Naomi Chesler
  • Client Dr. Myron Pozniak

2
Abstract
  • A Robotic Arm is being developed to eliminate the
    humans errors of manual biopsies
  • The Robotic Arm advances the needle slowly
  • Causes tumor movement and inaccurate biopsies
  • Increases risk of internal injury
  • We designed a pneumatic driver that should
    quickly insert and remove the needle
  • Our prototype blah blah blah
  • Needle retrieval and sampling designs have yet to
    be built

3
Motivation
  • Problems with the proposed solution the Robotic
    Arm
  • needle advancement occurs slowly 2 cm/s
  • creates tumor movement
  • subsequent inaccurate biopsy
  • Slower biopsies increase the risk of internal
    damage or laceration

4
Problem Definition
  • Biopsies are used in conjunction with a CT
    scanner to locate and sample tumors
  • Many dilemmas with manual biopsy needle injection
  • Inaccurate
  • Physicians experience long radiation exposure
  • Robotic Arm created to eliminate these problems

5
Problem Statement
  • Our goal is to create a needle driver that
  • Drives a needle fast to counter tumor movement
  • Is compatible with CT scanners
  • Is used adjunct to Imageguide Inc.s Robotic Arm

6
Design Criteria
  • Device must not be any longer than 30 cm
  • Radiolucent material
  • Must have redundant safety checks
  • Needle must be extracted rapidly with tissue
    sample

7
Design Criteria
  • Needle must be fired fast enough to utilize
    inertia of body tissue
  • Work in conjunction with ImageGuide technology
  • computer system to control position
  • Preserve Remote Center of Motion

8
Final Design
  • Pneumatic power source
  • Needle contained inside piston/cylinder assembly
  • Needle injected and retracted via pneumatic power
  • Meets length restrictions
  • All parts (except needle) may be constructed from
    plastic

9
Progress
  • Presented ideas to ImageGuide Inc.
  • Completed two prototypes
  • Original one only injects
  • Second one both injects and retracts

10
Testing
  • Tested needle deflection through pigs foot and
    gelatin
  • Needle deflection?
  • Needle velocity estimated at 4 m/s
  • 2000-4000 lbs/in2 generated at needle tip

11
  • Internal view of final pneumatic firing system
  • Needle inside cylinder
  • Needle able to inject or retract based on
    direction of air flow

12
Needle Designs
13
Future Work
  • Design mechanism within plunger to cause biopsy
    needle to capture tissue
  • Implement valve to direct air flow
  • Design mechanism to sequence firing and
    retracting
  • Implement radiolucent material
  • Interface with ImageGuide robotic arm
  • Device should be disposable
  • Needles of different length

14
References
  • ImageGuide
  • Dr. Myron Pozniak
  • Dr. Naomi Chesler
  • Dan Sidney
  • Dr. Frank Fronczak

15
Special Thanks
  • Beth Schiffman
  • Dr. Naomi Chesler
  • Nidal
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