DEVELOPMENT OF SPINAL NEEDLE POSITIONING ROBOT WITH DEPTH AND INSERTION ANGLE PARAMETERS AS THE SUBSYSTEM OF NEEDLE'S VISIBILITY EVALUATION WITH ULTRASONOGRAPHY IMAGING TECHNIQUE
<p align="justify">For the last few decades, the use of ultrasound imaging technique in minimally invasive interventional procedures has increased. However, ultrasound imaging for needle insertion applications has one crucial problem, which is the inconsistency of needle visibility....
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| Format: | Final Project |
| Language: | Indonesia |
| Online Access: | https://digilib.itb.ac.id/gdl/view/27792 |
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| Institution: | Institut Teknologi Bandung |
| Language: | Indonesia |
| Summary: | <p align="justify">For the last few decades, the use of ultrasound imaging technique in minimally invasive interventional procedures has increased. However, ultrasound imaging for needle insertion applications has one crucial problem, which is the inconsistency of needle visibility. The optimal consistency of needle visibility has several advantages, such as reducing the number of insertion error, avoiding unwanted risk, and reducing total time required for the procedure. Needle visibility is influenced by several technical factors and one of the factors is the needle’s depth and insertion angle. To study the phenomena and factors, an accurate and precise experiment device is needed. Therefore, in this study, a robot system will be designed and manufactured for positioning the needle at various depths and angles. <br />
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The robot system has 3 degree of freedoms with mechanical configurations consist of the base frame, the transducer buffer, linear actuators, and rotational actuators. In this system, the transducer buffer is installed separately but paralel to the needle buffer so that the needle can move freely inside the transducer's FOV. The needle is driven by 4 stepper motors with 2 motors for axial movement and 1 motor each for lateral and rotational movement. This robot system can also perform insertion movements by using axial and lateral motors alternately. <br />
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In this study, the movement of 2 stepper motors are performed by Bresenham and Digital Differential Analyzer (DDA) Algorithms. Therefore, the performance of the algorithms will be tested with 4 parameters, which are the accuracy based on RMSE value, the precision based on standar deviation, the linearity based on R2 value, and the needle's vibration by calculating standar error of the regression (S). Based on the experiment results, Bresenham's algorithm is more suitable for this robot system with the RMSE value at 1.5 mm, the range of standar deviation from 0.2 - 0.8 mm, the linearity is 0.999, and the S value is 0.15 mm. <p align="justify"> |
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