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

2. CT Fluoroscopy Advantages Real time Faster
Guidance for interventional procedures
Better success rate
Disadvantages
Radiation
- 2 mGy/procedure
- annual limit 500

3. Robotic System Radiation exposure reduced
Greater precision and accuracy
Lack tremor
No direct contact with patient

4. NIH Robotic Arm

5. Robotic End

6. Objectives Design an end-effector Degrees of freedom Needle driver
Different needle gauges
Rapid unlock
Relocation

7. Problems Primary—respiratory movement Variable grips
Multiple needle attachment at a common interface
Degrees of freedom
Rapid release of the needle driver
Visualization of the insertion point
Electrical interface of the needle driver with the robotic arm

8. Possible Solutions Potential for a feedback control system
Modification of current heart stabilizers
Variable grip driver
Design of a single interface
CAD interface
Pneumatic gripper from Kawasaki
Infrared camera in close proximity to needle driver

9. Market Potential
Improve surgical procedures (article from Computer Aided Surgery)
Increased cost efficiency
Safety concerns addressed by prototype construction & testing
Effectiveness of the system improved by building on current design
Rapidly advancing
An end arm effector that addresses all these concerns is likely to be effectively marketed as the field advances

10. Progress Made Discussed goals with Dr. Wood Completed NCIIA proposal
Obtained information & images
Contacted Dr. Lee Gorden & Dr. Ron Price

11. Current Status Researching and brainstorming
Investigating potential materials
Reviewing surgical robots
Learning and Installing Solidedge
Scheduling, requirement definition, work breakdown assignment

12. Future Work Conference call with Dr. Wood
Set up an appointment with a VU surgeon
Conduct a patent search
Continue researching possible solutions
Begin designing prototype

13. References
Robotically Drive Intervention: A method of Using CT Fluoroscopy without Radiation Exposure to the Physician. Radiology Volume 225-Number 1.
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.

14. Contact David Sun david.d.sun@vanderbilt.edu Xuan Truong
Chris Willingham