robotic arm controlled biopsy needle

Robotic Arm Controlled Biopsy Needle

Team Members:

Ryan Augustine

Brian Frederick

Nate Gaeckle

Gordy Lawrence

Client: Dr. Myron Pozniak

Advisor: Dr. Naomi Chesler

University of Wisconsin - MadisonBiomedical Engineering Design Courses

INTELLECTUAL PROPERTY STATEMENT

All information provided by individuals or Design Project Groups during this orsubsequent presentations is the property of the University and of the researcherspresenting this information. In addition, any information provided herein mayinclude results sponsored by and provided to a member company of theBiomedical Engineering Student Design Consortium (SDC). The above informationmay include intellectual property rights belonging to the University to which theSDC may have license rights.

Anyone to whom this information is disclosed:

1) Agrees to use this information solely for purposes related to this review;

2) Agrees not to use this information for any other purpose unless given writtenapproval in advance by the Project Group, the Client / SDC, and the Advisor.

3) Agrees to keep this information in confidence until the University and therelevant parties listed in Part (2) above have evaluated and secured anyapplicable intellectual property rights in this information.

4) Continued attendance at this presentation constitutes compliance with thisagreement.

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

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

ImageGuide cont.

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

Mechanical Driver

• Doctor Manually controls speed and advancement of needle

• Sensor advances to control distance needle travels

• Gear ratio is optional

Hydraulic Design Option

Fluid Compressor Unit

Linear Drive Mechanism

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

Pneumatic Design Option

Pneumatic

• Can be rapidly fired and retracted by air

• Can use radiolucent materials

• Can generate enough force needed

• Difficult to design

Other Designs

• Sewing Machine• Rotary Cam• Solenoid

Design Matrix

____________________________________________________________________________________________________________________________________________

Criteria Designs

Weight DatumMechanical Driver Hydraulic Driver

Pnuematic Driver

Size 2 S - S +

Cost 2 S S S S

Ease of Assembly 1 S - - -

Redundancy 3 S - + +

Mechanical Advantage 3 S + + +

Useful in CT Environment 5 S + S +

Stopping/Depth Mechanism 5 S - + +

Withdrawl Mechanism 4 S - S S

Design Total Weighted Total

Mechanical -3 -7

Hydraulic 2 7

Pneumatic 4 17

Needle Designs

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

References

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

• Pozniak, M. 2004. Personal Interview.

Questions