Type
Text
Type
Thesis
Advisor
Yu Zhou. Chad S. Korach. | Yu Zhou | Chad S. Korach | Anurag Purwar | William H. Moore.
Date
2011-05-01
Keywords
Mechanical Engineering -- Engineering | biopsy, cancer, lung, needle, nodule, robotic
Department
Department of Mechanical Engineering
Language
en_US
Source
This work is sponsored by the Stony Brook University Graduate School in compliance with the requirements for completion of degree.
Identifier
http://hdl.handle.net/11401/70812
Publisher
The Graduate School, Stony Brook University: Stony Brook, NY.
Format
application/pdf
Abstract
CT-guided needle biopsy is an important minimally invasive procedure to obtain tissue cells from lung nodules for cytological lung cancer diagnosis. The current procedure requires a specially-trained interventional radiologist to manually advance the needle to the target nodule. Accurate sampling depends on the dexterity and consistency of the clinician and the compliance of the patient. Biopsies in patients who have difficulty in holding breath, small nodules or nodules in the lower-third chest are difficult. Long-time remaining still and holding breath degenerate the patient comfort and compliance. Inaccurate needle positioning and insufficient patient compliance may increase the number of needle passes and occurrence of complications. To addresses these problems, we propose a robotic needle biopsy technique which uses a robot manipulator to place the biopsy needle on a target lung nodule according to the patient's respiratory motion pattern, under the guidance of CT imaging. Comparing with manual technique, the robotic needle placement will bring higher operational steadiness, improve accuracy, and reduce procedure duration. With the ultimate goal to create a clinically applicable CT-guided robotic needle biopsy procedure for lung nodules, the goal of this thesis work is to design the robotic needle gripper, a critical component of the robotic needle biopsy system. This work mainly focuses on the mechanical design and analysis of the robotic needle gripper mechanism. Moreover, for patient safety, the design incorporates a set of force sensors to monitor the forces acting on the gripper, which will trigger the release of the needle under serious force imbalance to protect the patient from serious injury, in particularly under sudden cough or large body movement. Our tests on the robotic needle biopsy prototype show that the proposed robotic needle biopsy can achieve high needle placement accuracy on moving nodules.
Recommended Citation
Krzeminski, Lukasz E., "Design of a Robotic Needle Gripper for CT-guided Robotic Needle Biopsy for Lung Nodules" (2011). Stony Brook Theses and Dissertations Collection, 2006-2020 (closed to submissions). 31.
https://commons.library.stonybrook.edu/stony-brook-theses-and-dissertations-collection/31