Towards a modular, customizable robotic system for needle-based image-guided interventions: Preliminary designs, implementation, and testing

Nikhil V. Navkar, Leonardo Barbosa, Shidin Balakrishnan, Julien Abinahed, Walid El Ansari, Khalid Al-Rumaihi, Adham Darweesh, Abdulla Al-Ansari, Nikolaos V. Tsekos, Mansour Karkoub, Mohamed Gharib

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Needle-based image-guided interventions (NB-IGI) are well established practices that are rapidly expanding to a wider range of therapeutic and diagnostic interventions due to their impact on clinical outcomes. In parallel, a number of robotic manipulators are emerging to increase accuracy, decrease inter-operator variabilities, and reduce the duration of the procedure. Most current systems are application-specific, thereby are appropriate for a limited number of procedures and further exacerbating the already rising costs of healthcare. In order to expand clinical usage of robotic NB-IGI, and eventually reduce the burden on healthcare costs, this paper proposes a modular, customizable robotic systems concept. The concept includes simplified hardware and control techniques, and initial results demonstrate that accuracy is within clinically acceptable limits. Preliminary designs, implementations, and assessments of the proposed system demonstrate its potential and clinical value.

Original languageEnglish
Title of host publicationProceedings - 2017 IEEE 17th International Conference on Bioinformatics and Bioengineering, BIBE 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages444-449
Number of pages6
ISBN (Electronic)9781538613245
DOIs
Publication statusPublished - 1 Jul 2017
Event17th IEEE International Conference on Bioinformatics and Bioengineering, BIBE 2017 - Herndon, United States
Duration: 23 Oct 201725 Oct 2017

Publication series

NameProceedings - 2017 IEEE 17th International Conference on Bioinformatics and Bioengineering, BIBE 2017
Volume2018-January

Other

Other17th IEEE International Conference on Bioinformatics and Bioengineering, BIBE 2017
CountryUnited States
CityHerndon
Period23/10/1725/10/17

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Keywords

  • Image Guided Intervention
  • Medical Robots
  • Modular Robots
  • Needle Interventions

ASJC Scopus subject areas

  • Signal Processing
  • Information Systems
  • Biomedical Engineering
  • Modelling and Simulation
  • Health Informatics

Cite this

Navkar, N. V., Barbosa, L., Balakrishnan, S., Abinahed, J., Ansari, W. E., Al-Rumaihi, K., Darweesh, A., Al-Ansari, A., Tsekos, N. V., Karkoub, M., & Gharib, M. (2017). Towards a modular, customizable robotic system for needle-based image-guided interventions: Preliminary designs, implementation, and testing. In Proceedings - 2017 IEEE 17th International Conference on Bioinformatics and Bioengineering, BIBE 2017 (pp. 444-449). (Proceedings - 2017 IEEE 17th International Conference on Bioinformatics and Bioengineering, BIBE 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/BIBE.2017.00-14