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A Robotized Needle Insertion Device for Percutaneous Procedures

[+] Author Affiliations
Olivier Piccin, Pierre Renaud

INSA-Strasbourg, Strasbourg, France

Laurent Barbé, Bernard Bayle, Benjamin Maurin, Michel de Mathelin

Strasbourg I University, Illkirch, France

Paper No. DETC2005-84577, pp. 433-440; 8 pages
  • ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 7: 29th Mechanisms and Robotics Conference, Parts A and B
  • Long Beach, California, USA, September 24–28, 2005
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4744-6 | eISBN: 0-7918-3766-1
  • Copyright © 2005 by ASME


In this paper, a new robotized needle insertion device is proposed for computer-assisted percutaneous therapy. The insertion device is integrated in a robotic system dedicated to gesture guidance in a Computed Tomography (CT) scan. The presented design fulfills the stringent requirements of such a medical application: compatibility with a CT-scan and haptic control by the practitioner are ensured as well as safety and sterilization. The novel design of the insertion device is first presented, outlining its main properties, before introducing preliminary experimental results.

Copyright © 2005 by ASME
Topics: needles



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