Design of a small animal biopsy robot

Author

Bebek, Ozkan ; Hwang, Myun Joong ; Fei, Baowei ; Cavusoglu, M. Cenk

Author_Institution

Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, Ohio, 44106, USA

fYear

2008

fDate

20-25 Aug. 2008

Firstpage

5601

Lastpage

5604

Abstract

Small animals are widely used in biomedical research studies. They have compact anatomy and small organs. Therefore it is difficult to perceive tumors or cells and perform biopsies manually. Robotics technology offers a convenient and reliable solution for accurate needle insertion. In this paper, a novel 5 degrees of freedom (DOF) robot design for inserting needles into small animal subjects is proposed. The design has a compact size, is light weight, and has high resolution. Parallel mechanisms are used in the design for stable and reliable operation. The proposed robot has two gimbal joints that carry the needle mechanism. The robot can realize dexterous alignment of the needle before insertion.

Keywords

Anatomy; Animal structures; Biopsy; Diseases; Needles; Neoplasms; Positron emission tomography; Robot sensing systems; Robotics and automation; Ultrasonic imaging; Biopsy; Equipment Design; Equipment Failure Analysis; Needles; Reproducibility of Results; Robotics; Sensitivity and Specificity; Surgery, Computer-Assisted;

fLanguage

English

Publisher

ieee

Conference_Titel

Engineering in Medicine and Biology Society, 2008. EMBS 2008. 30th Annual International Conference of the IEEE

Conference_Location

Vancouver, BC

ISSN

1557-170X

Print_ISBN

978-1-4244-1814-5

Electronic_ISBN

1557-170X

Type

conf

DOI

10.1109/IEMBS.2008.4650484

Filename

4650484