Evaluation of a semi-automated robotic system for percutaneous interventions: Phantom-based assessment of accuracy

Abstract Robotic systems have the potential to improve the accuracy and efficiency of percutaneous interventions. However, their widespread adoption is hindered by challenges such as high costs and usability deficiencies. To address these challenges, we designed a novel semi-automated robotic system that combines manual and robotic degrees of freedom for needle guidance. Since the initial presentation of the system, we have implemented hardware and software improvements. The objective of this study is to evaluate the accuracy of the system. To achieve this, experiments were conducted that involved the entire process from CT scanning to lesion targeting with a needle, using a phantom that replicated abdominal lesions of varying sizes. A total of 36 needle insertions were performed, and a control scan was conducted each time to evaluate the needle tip position. The results demonstrate promising accuracy, with a mean Euclidean error of 5.8 ± 1.7 mm. Qualitative analysis showed that lesion targeting was successful across different sizes, with a total success rate of 27 out of 36 attempts. Although our prototype shows promising accuracy, there is still room for improvement compared to existing systems. Future efforts will prioritize enhancing accuracy, exploring usability aspects, and validating the system's performance with medical professionals.