1. Image Guided Robotic Biopsy Group Members: Ryan Augustine Nate Gaeckle Brian Frederick Gordy Lawrence Advisor: Dr. Naomi Chesler Client: Dr. Myron Pozniak

2. Abstract A Robotic Arm is being developed to eliminate the humans errors of manual biopsies The Robotic Arm advances the needle slowly –Causes tumor movement and inaccurate biopsies –Increases risk of internal injury We designed a pneumatic driver that should quickly insert and remove the needle Our prototype blah blah blah Needle retrieval and sampling designs have yet to be built

3. Motivation Problems with the proposed solution: the Robotic Arm –needle advancement occurs slowly: 2 cm/s –creates tumor movement –subsequent inaccurate biopsy –Slower biopsies increase the risk of internal damage or laceration

4. Problem Definition Biopsies are used in conjunction with a CT scanner to locate and sample tumors Many dilemmas with manual biopsy needle injection –Inaccurate –Physicians experience long radiation exposure –Robotic Arm created to eliminate these problems

5. Problem Statement Our goal is to create a needle driver that: –Drives a needle fast to counter tumor movement –Is compatible with CT scanners –Is used adjunct to Imageguide Inc.’s Robotic Arm

6. Design Criteria Device must not be any longer than 30 cm Radiolucent material Must have redundant safety checks Needle must be extracted rapidly with tissue sample

7. Design Criteria Needle must be fired fast enough to utilize inertia of body tissue Work in conjunction with ImageGuide technology –computer system to control position –Preserve Remote Center of Motion

8. Final Design Pneumatic power source Needle contained inside piston/cylinder assembly Needle injected and retracted via pneumatic power Meets length restrictions All parts (except needle) may be constructed from plastic

9. Progress Presented ideas to ImageGuide Inc. Completed two prototypes –Original one only injects –Second one both injects and retracts

10. Testing Tested needle deflection through pigs foot and gelatin –Needle deflection? Needle velocity estimated at 4 m/s 2000-4000 lbs/in 2 generated at needle tip

11. Internal view of final pneumatic firing system –Needle inside cylinder –Needle able to inject or retract based on direction of air flow

12. Needle Designs

13. Future Work Design mechanism within plunger to cause biopsy needle to capture tissue Implement valve to direct air flow Design mechanism to sequence firing and retracting Implement radiolucent material Interface with ImageGuide robotic arm Device should be disposable Needles of different length

14. References ImageGuide Dr. Myron Pozniak Dr. Naomi Chesler Dan Sidney Dr. Frank Fronczak

15. Special Thanks Beth Schiffman Dr. Naomi Chesler Nidal