1. Robotic Needle End Effector for Integration with CT Scan Team Members: David Sun Xuan Truong Chris Willingham Advisor: Dr. Bradford Wood

2. Problem Statement Advantages  Real time  Faster and more accurate than traditional methods  Guidance for interventional procedures  Greater success rate Disadvantages  Radiation - 2 mGy/procedure - annual limit 500 CT Fluoroscopy A robotic system which reduces radiation exposure while performing these procedures with greater accuracy and precision is feasible. One of the primary limitations to this system is its ability to place biopsy/ablation instruments with the “touch” that a skilled physician provides.

3. Performance Criteria A successful resolution to this problem would address several factors:  Respiratory movement in the craniocaudal axis must be allowed for  Grips for various instruments must be provided at a common interface  6+ degrees of freedom must be allowed for

4. Primary Objective To design an end-effector for a surgical system that will allow placement of biopsy/ablation needles in a CT environment:  Will accommodate a variety of needle gauges  Provide a mechanism for an instrument which is rigid during placement, yet unlocks rapidly to allow for respiratory movement  Will interface with a specific robotic arm, but be easily adaptable for other systems

5. Solution Description Modification of a current heart stabilizer to meet performance criteria

6. Factors Affecting Performance Acceptance, testing, and prototyping cost of the design Ability to visualize the insertion point of the needle Electrical interface necessary for performance

7. System and Environment This video demonstrates the arm we will be working with, with a “dummy” end-effector utilized:

8. Status Arranged weekly conference calls with Dr. Wood Continuing literature review Updated all information and references on the website Obtained images and video of robotic arm to be used, including rough measurements (still trying to secure a model, CAD, or precise measurements) Contacted Dr. Lee Gorden & Dr. Ron Price regarding observation of CT based procedures Obtained current patents and operational specifications for the FlexSite device Conducting patent search for similar devices Obtained Solid Edge software and started training in its use

9. Informal Observations and Questions Will images and description of the method in which CT procedures are currently performed be useful in the next presentation? So far, this is a very qualitative process—prior to the mechanical design, what type of quantitative information should be included? A working robotic model is not likely given the focus of our robotics labs—will a mechanical model with the appropriate interface suffice?

10. Conclusions The design idea is progressing well, although the modification of a marketed technology will necessitate more in depth research regarding the current patent and potential design modifications. An interface for the needles must be considered, and although this is non-trival, multiple systems utilize this technique, and should be easily adaptable. More quantitative information is needed to validate the usefulness of the design in a non-academic setting. Where can we find information on the number of surgically procedures of a certain type that are performed nationally and at specific surgical centers?

11. References Robotically Drive Intervention: A method of Using CT Fluoroscopy without Radiation Exposure to the Physician. Radiology 2002. Volume 225-Number 1. AcuBot: A Robot for Radiological Interventions. IEEE-TR&A. AcuBot: A Robot for Radiological Interventions. IEEE-TR&A. State of the Art in Surgical Robotics:Clinical Applications and Technology Challenges. Computer Aided Surgery, August 2001.

12. Contact David Sun david.d.sun@vanderbilt.edu Xuan Truong xuan.t.truong@vanderbilt.edu Chris Willingham jc.willin@vanderbilt.edu