IEEE Engineering in Medicine and Biology Magazine · 2008 · 201 citations · 6 references
Health SciencesImage-guided TherapiesMedical ImagingMedicineComputer-assisted SurgeryMinimally Invasive ProcedureRobotic SurgeryImage GuidanceSurgeryRobotic Assistance SystemCentral Nervous SystemImage-guided InterventionMri-guided Radiation TherapyCt GantryRobot-assisted SurgeryOrthopaedic SurgeryRadiologyPercutaneous Image-guided Interventions
Percutaneous image‑guided interventions such as MRI‑ or CT‑guided biopsies, drainage, drug delivery, and tumor ablation drive the need for precise robotic assistance, though CNS applications are excluded due to regulatory constraints. The article reports on the development and evaluation of a robotic assistance system that delivers precise, reproducible instrument positioning within MRI or CT scanners using processed imagery. The system uses processed imaging to guide robotic positioning of instruments within MRI or CT gantries. The system received CE marking in 2005, is marketed as INNOMOTION, and is clinically used for MR‑guided sciatic pain and facet joint treatments, biopsies, drainages, and CT‑guided osteosynthesis.
This report describes the development of a robotic assistance system that provides precise and reproducible instrument positioning inside the MRI or CT gantry on the basis of processed imagery. Percutaneous interventions such as MRI-guided insertion of cannulae and probes for biopsy, drainage, drug delivery, and energetic tumor destruction were primary drivers in the robotic design. Applications involving the central nervous system have been excluded because of the demanding medical device regulations and approval process. The developed system received the Conformite Europeenne (CE) mark in 2005 and is marketed under the brand name INNOMOTION. It is currently in clinical use for MRl-guided sciatic pain and facet joint treatments, biopsies,drainages, and CT-guided osteosynthesis. This article reviews the development and evaluation of the system.
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