Design and 3D printing of pelvis phantoms for cementoplasty.

Background: Percutaneous image-guided cementoplasty is a medical procedure for strengthening bones structurally altered by disease, such as osteolytic metastasis. This procedure involves injecting biocompatible liquid bone cement, through one or more trocars into the damaged bone. Within a few minutes the bone cement hardens and restores the rigidity of the bony structure.

Skin-stretch Haptic Feedback Augmentation Improves Performance in a Simulated Laparoscopic Palpation Task.

Laparoscopic surgery brings substantial benefits to patients. However, it remains challenging for surgeons because of motion constraints and perception limitations. Notably, the perception of interactions with organs is largely compromised.

PMMA Bone Cement in Interventional Oncology.

Polymethylmethacrylate (PMMA) bone cement is increasingly being used for percutaneous minimally invasive treatments of patients suffering from bone malignancies. PMMA is composed of a polymeric powder and a monomeric liquid. Once mixed, the polymerization process begins and leads to a viscous fluid that can be injected through a bone trocar.

Robot-Assisted Bone Cement Injection.

In this article, assistance to bone cement injection is studied, with a focus on vertebroplasty, a procedure dedicated to the treatment of vertebral compression fractures. A robotic system that can remotely be operated at pressures up to 140 bar is presented. It improves cement polymerization control, combining a cold passive exchanger that slows down the cement curing in the syringe and an active exchanger that controls the injected cement temperature.

Cement Plug Fragmentation Following Percutaneous Cementoplasty of the Bony Pelvis: Is it a Frequent Finding in Clinical Practice?

Purpose: To report the rate of fragmentation of the cement plug following percutaneous cementoplasty with polymethylmethacrylate (PMMA) in the bony pelvis (i.e., pelvic bones or sacrum).

Percutaneous image-guided double oblique anterior approach to the acetabulum for cementoplasty.

Aim: To report the technique of percutaneous double oblique anterior access to the acetabulum and evaluate its feasibility and safety.

Materials And Methods: Pelvic computed tomography (CT) examinations of 60 patients (30 men and 30 women; mean age 62.6±13.

Biomechanics of the Osseous Pelvis and Its Implication for Consolidative Treatments in Interventional Oncology.

The osseous pelvis is a frequent site of metastases. Alteration of bone integrity may lead to pain but also to functional disability and pathological fractures. Percutaneous image-guided minimally invasive procedures, such as cementoplasty and screw fixation, have emerged as a viable option to provide bone reinforcement and fracture fixation, as stand-alone or combined techniques.

Subjective Analysis of the Filling of an Acetabular Osteolytic Lesion Following Percutaneous Cementoplasty: Is It Reliable?

Purpose: To study the interobserver agreement for the analysis of lesion filling following cementoplasty of an acetabular osteolytic lesion, and investigate how subjective analysis compares to volumetric analysis.

Materials And Methods: A total of 21 acetabular osteolysis were retrospectively analysed on pre- and immediate post-cementoplasty CT-scans by two senior interventional radiologists and one resident using a 4 grade scale to quantify lesion filling (F): F ≤ 25%, 25% < F ≤ 50%, 50% < F ≤ 75% or F > 75%. Volumetric analysis (F) was performed with the delineation of the osteolysis and the cement using regions of interest.

Percutaneous extra-spinal cementoplasty in patients with cancer: A systematic review of procedural details and clinical outcomes.

Purpose: To perform a systematic review of technical details and clinical outcomes of percutaneous extra-spinal cementoplasty in patients with malignant lesions.

Materials And Methods: PUBMED, MEDLINE, MEDLINE in-process, EMBASE and the Cochrane databases were searched between January 1990 and February 2019 using the keywords «percutaneous cementoplasty», «percutaneous osteoplasty» and «extra-spinal cementoplasty». Inclusion criteria were: retrospective/prospective cohort with more than 4 patients, published in English language, reporting the use of percutaneous injection of cement inside an extra-spinal bone malignant tumour using a dedicated bone trocar, as a stand-alone procedure or in combination with another percutaneous intervention, in order to provide pain palliation and/or bone consolidation.

Bone cement modeling for percutaneous vertebroplasty.

Vertebroplasty procedures provide a significant benefit for patients suffering from vertebral fractures. In order to address current issues of vertebroplasty procedures, an injection device able to control the bone cement viscosity has been developed. In addition, this device allows to protect the practitioner by removing him/her from the X-rays area.

Soft Robots Manufacturing: A Review.

The growing interest in soft robots comes from the new possibilities offered by these systems to cope with problems that cannot be addressed by robots built from rigid bodies. Many innovative solutions have been developed in recent years to design soft components and systems. They all demonstrate how soft robotics development is closely dependent on advanced manufacturing processes.

Automatic planning of needle placement for robot-assisted percutaneous procedures.

Purpose: Percutaneous procedures allow interventional radiologists to perform diagnoses or treatments guided by an imaging device, typically a computed tomography (CT) scanner with a high spatial resolution. To reduce exposure to radiations and improve accuracy, robotic assistance to needle insertion is considered in the case of X-ray guided procedures. We introduce a planning algorithm that computes a needle placement compatible with both the patient's anatomy and the accessibility of the robot within the scanner gantry.

Design and development of a robotized system coupled to µCT imaging for intratumoral drug evaluation in a HCC mouse model.

Hepatocellular carcinoma (HCC) is one of the most common cancer related deaths worldwide. One of the main challenges in cancer treatment is drug delivery to target cancer cells specifically. Preclinical evaluation of intratumoral drugs in orthotopic liver cancer mouse models is difficult, as percutaneous injection hardly can be precisely performed manually.

A custom robot for Transcranial Magnetic Stimulation: first assessment on healthy subjects.

In this paper, a custom robotic system for Transcranial Magnetic Stimulation is assessed in clinical conditions on healthy subjects. A motor cortex mapping is performed using the robotic system with comparison to a manual approach using a neuronavigation system. Stimulation accuracy, repeatability are evaluated as well as the feeling of the system operator and the subject in terms of comfort, tiredness, stress level, ease-of-use.

Design and in vivo evaluation of a robotized needle insertion system for small animals.

The development of imaging devices adapted to small animals has opened the way to image-guided procedures in biomedical research. In this paper, we focus on automated procedures to study the effects of the recurrent administration of substances to the same animal over time. A dedicated system and the associated workflow have been designed to percutaneously position a needle into the abdominal organs of mice.

Design and evaluation of a robotic system for transcranial magnetic stimulation.

Transcranial magnetic stimulation is a noninvasive brain stimulation technique. It is based on current induction in the brain with a stimulation coil emitting a strong varying magnetic field. Its development is currently limited by the lack of accuracy and repeatability of manual coil positioning.

Design considerations for a novel MRI compatible manipulator for prostate cryoablation.

Purpose: Prostate carcinoma is a commonly diagnosed cancer in men. Nonsurgical treatment of early stage prostate cancer is an important alternative. The use of MRI for tumor cryoablation is of particular interest: it offers lower morbidity compared with other localized techniques.

A patient-mounted robotic platform for CT-scan guided procedures.

In this paper, we present a novel robotic assistant dedicated to medical interventions under computed tomography scan guidance. This compact and lightweight patient-mounted robot is designed so as to fulfill the requirements of most interventional radiology procedures. It is built from an original 5 DOF parallel structure with a semispherical workspace, particularly well suited to CT-scan interventional procedures.

Fully automated image-guided needle insertion: application to small animal biopsies.

The study of biological process evolution in small animals requires time-consuming and expansive analyses of a large population of animals. Serial analyses of the same animal is potentially a great alternative. However non-invasive procedures must be set up, to retrieve valuable tissue samples from precisely defined areas in living animals.

Online robust model estimation during in vivo needle insertions.

Soft tissue modeling is of key importance in medical robotics and simulation. In the case of percutaneous operations, a fine model of layers transitions and target tissues is required. However, the nature and the variety of these tissues is such that this problem is extremely complex.