© 2020 Martin Gromniak et al., published by De Gruyter, Berlin/Boston 2020. Forensic autopsies include a thorough examination of the corpse to detect the source or alleged manner of death as well as to estimate the time since death. However, a full autopsy may be not feasible due to limited time, cost or ethical objections by relatives. Hence, we propose an automated minimal invasive needle biopsy system with a robotic arm, which does not require any online calibrations during a procedure. The proposed system can be easily integrated into the workflow of a forensic biopsy since the robot can be flexibly positioned relative to the corpse. With our proposed system, we performed needle insertions into wax phantoms and livers of two corpses and achieved an accuracy of 4.34 ± 1.27 mm and 10.81 ± 4.44 mm respectively. ; Deutsche Forschungsgemeinschaft (DFG)


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Needle placement accuracy in CT-guided robotic post mortem biopsy


    Beteiligte:

    Erscheinungsdatum :

    01.05.2020


    Anmerkungen:

    2-s2.0-85093509676



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    570 / 629 / 610





    Needle insertion planning for obstacle avoidance in robotic biopsy

    Gerlach, Stefan / Neidhardt, Maximilian / Weiß, Thorben et al. | BASE | 2021

    Freier Zugriff

    POST MORTEM

    Online Contents | 1999


    Perioperative course and accuracy of screw positioning in conventional, open robotic-guided and percutaneous robotic-guided, pedicle screw placement

    Kantelhardt, Sven Rainer / Martinez, Ramon / Baerwinkel, Stefan et al. | BASE | 2011

    Freier Zugriff

    Semiautomated robotic, CT-guided needle placement for postmortem CSF sampling – a novel application of the Virtobot

    Franckenberg, Sabine / Sieberth, Till / Frauenfelder, Thomas et al. | BASE | 2021

    Freier Zugriff