Robotic Arm Controlled Biopsy Needle

1. Robotic Arm Controlled Biopsy Needle Team Members: Ryan Augustine Brian Frederick Nate Gaeckle Gordy Lawrence Client: Dr. Myron Pozniak Advisor: Dr. Naomi Chesler

3. CT Procedure • Initial CT taken • Splices are integrated to form image • Physician manually inserts needle in appropriate trajectory and distance • Inaccurate – chance of failure • A more precise system needs to be developed

4. ImageGuide • Produced robotic arm technology • Computer receives information from the CT • Controls movement of arm in 6 degrees of freedom • Currently has mechanism to advance needle at rate of 2 cm/s

5. ImageGuide cont.

6. Design Requirements • Needle must be advanced subcutaneous before firing • Needle must be fired fast enough to utilize inertia of body tissue • Needle must be extracted rapidly with tissue sample • Work in conjunction with ImageGuide technology • computer system to control position • Preserve remote center of motion • Device must not be any longer than 30 cm • Radiolucent material • Must have redundant safety checks

7. Mechanical Driver • Doctor Manually controls speed and advancement of needle • Sensor advances to control distance needle travels • Gear ratio is optional

8. Hydraulic Design Option Fluid Compressor Unit Linear Drive Mechanism

9. Hydraulic Design Option • Pros • Can be rapidly fired and retracted by dual piston action • Can be manufactured with materials compatible with CT Imaging. • Will generate enough power and velocity for design requirements • Cons • Difficult to design • Accuracy maintained over many usages

10. Pneumatic Design Option

11. Pneumatic • Can be rapidly fired and retracted by air • Can use radiolucent materials • Can generate enough force needed • Difficult to design

12. Other Designs • Sewing Machine • Rotary Cam • Solenoid

13. Design Matrix ____________________________________________________________________________________________________________________________________________

14. Needle Designs

15. Future Work • Determine more specific design specifications • Meet with Hydraulic/Pneumatic expert • Decide on most promising design option • Begin prototype design • And hopefully, prototype testing and refining

16. References • ImageGuide, Inc. Feb. 16, 2004. Image-Guided Robotics for Minimally Invasive Cancer Diagnosis and Therapy. PowerPoint Presentation. • Pozniak, M. 2004. Personal Interview.

17. Questions