IRASIS : Insertion Robotisée d’Aiguille Sous Imagerie Scanner Robotized Needle Insertion with CT Guidance

This paper present the current state of the ROBEA project IRASIS whose goal is to design a robotic system for needle insertion under CT-guidance. To do so, a new stereotactic robotic needle positioning assistant for percutaneous procedures has been designed and built. This system, called the CT-Bot, is compatible with the medical requirements and offers an innovative approach to robotic needle insertion with computed tomography (CT) guidance. Some experimental results obtained with the first prototype, for a needle tip positioning task and for a needle manual insertion on a phantom with CTimages feedback are presented and provide a validation of the accuracy objectives. A dedicated haptic interface is currently developed for tele-operated procedures with the CT-Bot in order to provide enhanced sensations during needle insertion.