Arnolli Maarten M, Hanumara Nevan C, Franken Michel, Brouwer Dannis M, Broeders Ivo A M J
DEMCON Advanced Mechatronics, The Netherlands.
Mechanical Engineering Department, Massachusetts Institute of Technology, MA, USA.
Int J Med Robot. 2015 Dec;11(4):458-75. doi: 10.1002/rcs.1630. Epub 2014 Dec 4.
Minimally invasive biopsies, drainages and therapies in the soft tissue organs of the thorax and abdomen are typically performed through a needle, which is inserted percutaneously to reach the target area. The conventional workflow for needle placement employs an iterative freehand technique. This article provides an overview of needle-placement systems developed to improve this method.
An overview of systems for needle placement was assembled, including those found in scientific publications and patents, as well as those that are commercially available. The systems are categorized by function and tabulated.
Over 40 systems were identified, ranging from simple passive aids to fully actuated robots.
The overview shows a wide variety of developed systems with growing complexity. However, given that only a few systems have reached commercial availability, it is clear that the technical community is struggling to develop solutions that are adopted clinically. Copyright © 2014 John Wiley & Sons, Ltd.
胸部和腹部软组织器官的微创活检、引流及治疗通常通过经皮插入的针来进行，以到达目标区域。传统的针放置工作流程采用迭代徒手技术。本文概述了为改进该方法而开发的针放置系统。
收集了针放置系统的概述，包括科学出版物和专利中发现的系统以及市售系统。这些系统按功能分类并制成表格。
识别出40多种系统，从简单的被动辅助工具到完全驱动的机器人。
概述显示出各种已开发的系统，其复杂性不断增加。然而，鉴于只有少数系统已实现商业应用，显然技术界正在努力开发临床采用的解决方案。版权所有© 2014约翰威立父子有限公司。
