Table 4:
Year | Team | Study type | Accuracy | DOF | Actuation type | Control type | SNR | Institute | Application |
---|---|---|---|---|---|---|---|---|---|
2016 | Miller et al. [75] | Nonsurvival swine study (N=8) | All stents were deployed successfully | - | Innomotion | - | - | National Institutes of Health (NIH), USA | Cardiac intervention |
2010 | Li et al. [76] | Ex-vivo | 0.8 mm and 1.5 mm | - | Innomotion | - | - | National Institutes of Health (NIH), USA | Cardiac intervention |
2013 | Tavallaei et al. [77] | In air | 2 ± 2◦ rotation 1.0 ± 0.8 mm axial |
2 DOF | ultrasonic motor | Master-slave | Less than 2.5% drop | University of Western Ontario | Cardiac catheterization |
2015 | Monfaredi et al. [68] [69] | Phantom | - | 4 DOF | Piezoelectric motor |
Manual needle insertion | Powered off: 2% drop | Children’s National Health System, DC, USA | Arthrography |
2016 | Franco et al. [78] [79] | Phantom | Below 5 mm | 4 DOF | Pneumatic cylinders | Manual needle insertion | Less than 5% drop | Imperial College London | Liver tumor ablation |
2017 | Kim et al. [71] | - | - | 4 dof | Piezoelectric motor |
Manual needle insertion | - | Johns Hopkins University | Arthrography |
2017 | Stoianovici et al. [72] | Phantom | 1.39 mm SD 0.4 mm |
3 DOF | PneuStep | Manual tool insertion | - | Children’s National Health System, DC, USA Johns Hopkins university |
Bone biopsy |
2017 | Squires et al. [73] | Swine Cadaver | 1.12 mm SD 0.97 mm |
4 DOF | Pneumatic motor | - | Less than 3% in 3 a Tesla scanner | University of Georgia | Spinal Cellular Therapeutics |