CRANE: A highly dexterous needle placement robot for evaluation of interventional radiology procedures

C4 Workshop at IEEE/RSJ International Conference on Robotics and Automation, 2019 BEST PAPER AWARD

Dimitri A Schreiber, Hanpeng Jiang, Guosong Li, Julie Yu, Zhaowei Yu, Renjie Zhu, Alexander M Norbash, Michael C Yip

Abstract: Interventional Radiology (IR) enables earlier diagnosis and less invasive treatment of numerous ailments. Here we present our ongoing development of CRANE: CT RoboticArm and Needle Emplacer, a robotic needle positioning system for CT guided procedures. The robot has 8 active Degrees-of-Freedom (DoF) and a novel infinite travel needle insertion mechanism. The control system is distributed using the RobotOperating System (ROS) across a low latency network that interconnects a real-time low-jitter controller, with a desktop computer which hosts the User Interface (UI) and high-level control. This platform can serve to evaluate limitations in the current procedures and to prototype potential solutions to these challenges in-situ.

Schreiber et al. (2019) CRANE: A highly dexterous needle placement robot for evaluation of interventional radiology procedures, C4 Workshop at IEEE/RSJ International Conference on Robotics and Automation, pp. 45293.

Pub Link: http://arxiv.org/pdf/1910.03063
arXiv: http://arxiv.org/pdf/1910.03063v1