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

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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