A Computer-Assisted Robotic Ultrasound-Guided Biopsy System for Video-Assisted Surgery

摘要

Current ultrasound-guided biopsy procedures used in video-assisted surgery suffer from limitations due to difficult triangulation and manual positioning of the biopsy needle. We present a prototype computer-assisted robotic system for needle positioning that operates in a synergistic way with the clinician. The performance of the system in terms of positioning accuracy and execution time is assessed. Results suggest suitability for clinical use.