CRANE: A highly dexterous needle placement robot for evaluation of interventional radiology procedures

Dimitri A. Schreiber; Hanpeng Jiang; Guosong Li; Julie Yu; Zhaowei Yu; Renjie Zhu; Alexander M. Norbash; Michael C. Yip

CRANE: A highly dexterous needle placement robot for evaluation of interventional radiology procedures

Robotics 2019-10-09 v1

Authors: Dimitri A. Schreiber , Hanpeng Jiang , Guosong Li , Julie Yu , Zhaowei Yu , Renjie Zhu , Alexander M. Norbash , Michael C. Yip

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Abstract

Interventional Radiology (IR) enables earlier diagnosis and less invasive treatment of numerous ailments. Here we present our ongoing development of CRANE: CT RoboticArm and Needle Emplacer, a robotic needle positioning system for CT guided procedures. The robot has 8 active Degrees-of-Freedom (DoF) and a novel infinite travel needle insertion mechanism. The control system is distributed using the RobotOperating System (ROS) across a low latency network that interconnects a real-time low-jitter controller, with a desktop computer which hosts the User Interface (UI) and high-level control. This platform can serve to evaluate limitations in the current procedures and to prototype potential solutions to these challenges in-situ.

Keywords

interventional radiology needle placement robot ct-guided procedures robot operating system degrees of freedom prototype evaluation

Cite

@article{arxiv.1910.03063,
  title  = {CRANE: A highly dexterous needle placement robot for evaluation of interventional radiology procedures},
  author = {Dimitri A. Schreiber and Hanpeng Jiang and Guosong Li and Julie Yu and Zhaowei Yu and Renjie Zhu and Alexander M. Norbash and Michael C. Yip},
  journal= {arXiv preprint arXiv:1910.03063},
  year   = {2019}
}

Comments

2 pages, 3 figures, extended abstract for IROS 2019 Workshop on Surgical Robotics

CRANE: A highly dexterous needle placement robot for evaluation of interventional radiology procedures

Abstract

Keywords

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