Light Puncture Robot for CT and MRI Interventions

Ivan Bricault (1) , Nabil Zemiti (1) , Emilie Jouniaux (2, 3) , Céline Fouard (1) , Elise Taillant (2) , Frédéric Dorandeu (4) , Philippe Cinquin (1)

1 TIMC-IMAG-GMCAO - Gestes Medico-chirurgicaux Assistés par Ordinateur
2 TIMC-IMAG - Techniques de l'Ingénierie Médicale et de la Complexité - Informatique, Mathématiques et Applications, Grenoble - UMR 5525
3 PRAXIM médiavision SA
4 CRSSA - Centre de Recherches du Service de Santé des Armées

The new robot named light puncture robot (LPR), has an original compact body-supported architecture, which is naturally able to follow the patient's body surface respiratory movements for abdominal and thoracic percutaneous procedures, which is compatible with CT, open MRI, and closed MRI. It is entirely made of plastic and uses MR-compatible pneumatic actuators powered by compressed air. It is localized via an image-based control using a localization device that is totally integrated to the robot. The physician is also included in the control loop, since he/she selects the target and the entry point and supervises the whole process.

Mots clés: Interventional radiology; MR compatibility; computer-assisted medical interventions (CAMI); localization; segmentation; registration

Mots clés: registration.

Domaines: Automatique / Robotique; Imagerie médicale

Ivan Bricault, Nabil Zemiti, Emilie Jouniaux, Céline Fouard, Elise Taillant, et al.. Light Puncture Robot for CT and MRI Interventions. IEEE Engineering in Medicine and Biology Magazine, 2008, 27 (3), pp.42-50. ⟨10.1109/EMB.2007.910262⟩. ⟨hal-00311442⟩