A Novel Cable-driven based Puncture Robotic System for CT Guided Needle Position

At present, the CT guidance method allows surgeons to quickly locate the lesion area; however, it is necessary to manually adjust the position of the puncture needle for insertion. In this paper, we designed a robotic system which is capable to hold the puncture needle and automatically adjust the angle and the position of the needle tip according to the guidance of CT image. In order to guarantee the operational space of the robot does not affect the CT image during the needle position procedure, a cable-driven design is developed, which allows the robot to achieve flexible and enhanced puncture position under CT environment. To verify the feasibility of the robot design, a PID controller was designed to improve the accuracy of the needle position in the puncture system, experimental studies have also been performed using IMU to validate the needle position, and the result shows that the designed robot can achieve accurate needle position.