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Development of a needle insertion end-effector for interventional radiology

Interventional radiology is a medical sub-specialty of radiology which utilizes minimally-invasive image guided procedures to diagnose and treat diseases. Interventional Needle Biopsy is a most common interventional Radiology. It is performed with a biopsy needle according to the guide of fluoroscopic apparatus including CT and C-arm. It is getting popular due to a great advantage induced from minimally invasive procedure. However, the surgeon performing needle biopsy and the patient are repeatedly exposed to radiation environment. Therefore, a need for developing a robotic needle insertion system which is performed with remote control master device is recognized. This paper explains about robotic needle insertion end-effector in order to reduce radiation exposure of the patient and the surgeon. It has 3 DoF motion which is designed to insert a needle, rotate a needle and release/hold a needle.