Design and evaluation of robotic systems for medical image guided percutaneous needle interventions
type: Dataset
description: This thesis describes the design and evaluation of robotic systems for medical image guided percutaneous needle interventions. Percutaneous needle interventions have become increasingly more common in the diagnosis and treatment of a variety of illnesses in the human population. Examples include biopsies, radiofrequency ablation, cryotherapy, abscess drainage, and brachytherapy, amongst others. The coupling of medical imaging to the insertion of a needle raises a number of difficulties for the physician, such as accurately aligning the needle to the planned trajectory in the image, realizing complex out-of-plane trajectories that are difficult to visualize and compensating for soft tissue motion. Robotics can be used to assist these procedures and simplify these challenges, potentially resulting in more accurate procedures, better clinical outcomes and greater patient eligibility. This thesis outlines the technical and clinical challenges typically faced during the design and evaluation of such needle insertion robots. Focus is given primarily to the aspects which differentiate needle insertion robots from other medical robots. A review of the state of the art is used to describe these challenges and to present some of the solutions that have been proposed to face them. On this basis, two such robotic systems, developed during this thesis, are described in detail, providing concrete examples of the variety of design constraints imposed in a medical image guided needle insertion setting. The first system, called PROSPER, is for ultrasound(US)-guided transperineal prostate interventions, in particular brachytherapy. It is mounted to the surgical table and a 3D transrectal US probe is rigidly connected to it, allowing one-time pre-operative calibration between the image and the robot coordinate spaces. The protocol developed for this system includes intra-operative US-US registration in order to compensate for prostate motion and deformation during insertion. This chap…
identifier: NNT: 2014GRENS003
issued: 2026-05-05T10:09:06.179359
language: fr
modified: 2026-05-05T10:09:06.179364
contact point: Organization
  fn: CCSD
keyword: ct
keyword: imagerie-medicale
keyword: infoeu-reposemanticsdoctoralthesis
keyword: irm
keyword: medical-imaging
keyword: mri
keyword: ponction
keyword: puncture
keyword: robotics
keyword: robotique
keyword: sdvmheplife-sciences-q-biohuman-health-and-pathology
keyword: theses
keyword: ultrasons
keyword: ultrasound
landing page: https://theses.hal.science/tel-00997017

Design and evaluation of robotic systems for medical image guided percutaneous needle interventions
type: Distribution
format: HTML
issued: 2026-05-05T10:09:06.183039
modified: 2026-05-05T10:09:06.163080
access URL: https://theses.hal.science/tel-00997017

test_moissonnage_selune
type: Agent