Towards a Modular, Customizable Robotic System for Needle-Based Image-Guided Interventions: Preliminary Designs, Implementation, and Testing Conference Paper uri icon


  • 2017 IEEE. Needle-based image-guided interventions (NB-IGI) are well established practices that are rapidly expanding to a wider range of therapeutic and diagnostic interventions due to their impact on clinical outcomes. In parallel, a number of robotic manipulators are emerging to increase accuracy, decrease inter-operator variabilities, and reduce the duration of the procedure. Most current systems are application-specific, thereby are appropriate for a limited number of procedures and further exacerbating the already rising costs of healthcare. In order to expand clinical usage of robotic NB-IGI, and eventually reduce the burden on healthcare costs, this paper proposes a modular, customizable robotic systems concept. The concept includes simplified hardware and control techniques, and initial results demonstrate that accuracy is within clinically acceptable limits. Preliminary designs, implementations, and assessments of the proposed system demonstrate its potential and clinical value.

name of conference

  • 2017 IEEE 17th International Conference on Bioinformatics and Bioengineering (BIBE)

published proceedings

  • 2017 IEEE 17th International Conference on Bioinformatics and Bioengineering (BIBE)

author list (cited authors)

  • Navkar, N. V., Barbosa, L., Balakrishnan, S., Abinahed, J., Ansari, W. E., Al-Rumaihi, K., ... Gharib, M.

citation count

  • 0

complete list of authors

  • Navkar, Nikhil V||Barbosa, Leonardo||Balakrishnan, Shidin||Abinahed, Julien||Ansari, Walid El||Al-Rumaihi, Khalid||Darweesh, Adham||Al-Ansari, Abdulla||Tsekos, Nikolaos V||Karkoub, Mansour||Gharib, Mohamed

publication date

  • October 2017