An ultrasound-driven needle-insertion robot for percutaneous cholecystostomy

J. Hong, T. Dohi, M. Hashizume, K. Konishi, N. Hata

Research output: Contribution to journalArticlepeer-review

148 Citations (Scopus)


A real-time ultrasound-guided needle-insertion medical robot for percutaneous cholecystostomy has been developed. Image-guided interventions have become widely accepted because they are consistent with minimal invasiveness. However, organ or abnormality displacement due to involuntary patient motion may undesirably affect the intervention. The proposed instrument uses intraoperative images and modifies the needle path in real time by using a novel ultrasonic image segmentation technique. In phantom and volunteer experiments, the needle path updating time was 130 and 301 ms per cycle, respectively. In animal experiments, the needle could be placed accurately in the target.

Original languageEnglish
Pages (from-to)441-455
Number of pages15
JournalPhysics in Medicine and Biology
Issue number3
Publication statusPublished - Feb 7 2004

All Science Journal Classification (ASJC) codes

  • Radiological and Ultrasound Technology
  • Radiology Nuclear Medicine and imaging


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