Robotic Interventional Needle Insertion Assisted by a Cable‐Driven Parallel Robot

摘要

This study presents a novel cable‐driven parallel robot (CDPR) assisted needle insertion method for X‐ray guided remote interventional pain procedures. The CDPR employs flexible cables to actuate a robotic end‐effector, and the proposed system ensures compatibility with X‐ray imaging while facilitating precise remote needle insertion by achieving a virtual remote center of motion. The proposed system addresses challenges associated with conventional rigid‐link type needle insertion robots in terms of a limited workspace and X‐ray interference. Design, workspace analysis, prototyping, control, and experimental results for feasibility validation are conducted to demonstrate the effectiveness in achieving of accurate needle guidance under C‐arm imaging. The gelatin phantom experiments confirmed the motion accuracy and the cadaver experiment underscored the system's feasibility for clinical applications. The proposed approach to robotic assistance in interventional pain procedures may enhance precision and reduce radiation exposure for both patients and clinicians.