CRANE: a 10 Degree-of-Freedom, Tele-surgical System for Dexterous Manipulation within Imaging Bores

TL;DR

CRANE is a highly dexterous, accurate robotic system designed for CT-guided percutaneous procedures, enhancing physician precision and safety within imaging bores.

Contribution

The paper introduces CRANE, a novel 8+2 DoF robotic arm with a new needle mechanism, improving dexterity, accuracy, and manufacturability for CT-guided interventions.

Findings

Achieved <0.2mm trajectory tracking error.

Demonstrated high accuracy suitable for clinical use.

Designed a versatile needle driving mechanism.

Abstract

Physicians perform minimally invasive percutaneous procedures under Computed Tomography (CT) image guidance both for the diagnosis and treatment of numerous diseases. For these procedures performed within Computed Tomography Scanners, robots can enable physicians to more accurately target sub-dermal lesions while increasing safety. However, existing robots for this application have limited dexterity, workspace, or accuracy. This paper describes the design, manufacture, and performance of a highly dexterous, low-profile, 8+2 Degree-ofFreedom (DoF) robotic arm for CT guided percutaneous needle biopsy. In this article, we propose CRANE: CT Robot and Needle Emplacer. The design focuses on system dexterity with high accuracy: extending physicians' ability to manipulate and insert needles within the scanner bore while providing the high accuracy possible with a robot. We also propose and validate a system architecture and control scheme for low profile and highly accurate image-guided robotics, that meets the clinical requirements for target accuracy during an in-situ evaluation. The accuracy is additionally evaluated through a trajectory tracking evaluation resulting in <0.2mm and <0.71degree tracking error. Finally, we present a novel needle driving and grasping mechanism with controlling electronics that provides simple manufacturing, sterilization, and adaptability to accommodate different sizes and types of needles.