Adam C Waspe et al 2007 Phys. Med. Biol. 52 1863 doi:10.1088/0031-9155/52/7/007
Adam C Waspe1,1, H Jason Cakiroglu2,3, James C Lacefield1,2,3,4 and Aaron Fenster1,2,3,4,5
Show affiliationsA needle-positioning robot has been developed for image-guided interventions in small animal research models. The device is designed to position a needle with an error ≤100 µm. The robot has two rotational axes (pitch and roll) to control needle orientation, and one linear axis to perform needle insertion. The three axes intersect at a single point to create a remote centre of motion (RCM) that acts as a fulcrum for the orientation of the needle. The RCM corresponds to the skin-entry point of the needle into the animal. The robot was calibrated to ensure that the three axes intersected at a single point defining an RCM and that the needle tip was positioned at the RCM. Needle-positioning accuracy and precision were quantified in Cartesian coordinates at ten target locations in the plane of each rotational axis. The measured needle-positioning accuracy in free space was 54 ± 12 µm for the pitch axis plane and 91 ± 21 µm for the roll axis plane. The measured needle-positioning precision was 15 and 17 µm for the pitch and roll axes planes, respectively. The robot's ability to insert a needle into a tumour in a euthanized mouse was demonstrated.
87.80.Fe Micromanipulation of biological structures
06.20.fb Standards and calibration
Issue 7 (7 April 2007)
Received 15 September 2006, in final form 8 January 2007
Published 9 March 2007
Adam C Waspe et al 2007 Phys. Med. Biol. 52 1863
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