TABLE 1.
Overview of the reported systems.
| Imaging modality | Intented clinical use | Ref | System name/vendor | Characteristics |
|---|---|---|---|---|
| CT | Needle guidance in liver | Cornelis et al. (2015) | MAXIO/Perfint Healthcare Pvt. Ltd., India | Combination of articulated arm and attached steerable needle guide |
| Percutaneous diagnostics and therapeutics | Smakic et al. (2018) | |||
| Needle guidance | Hiraki et al. (2017) | Zerobot/Okayama University, Japan | Mobile mounted, designed for sliding gantry (does not fit in most conventional CT scanners) | |
| Needle guidance for abdominal biopsies and ablations | Won et al. (2017) | −/− | Mobile mounted arm; co-registered with optical tracking, remotely steered | |
| Needle guidance for lung biopsy | Yang et al. (2017) | −/− | 2 modules; tendon sheath transmission, automated insertion | |
| Needle guidance in percutaneous interventions | Ben-David et al. (2018) | -/XACT robotics Ltd., caesaria, Israel | Body mounted prototype; based on (10) | |
| Needle guidance | Shahriari et al. (2017) | −/− | table mounted arm, CT-image fusion with EM sensor data, remote steerng with EM tracker | |
| Pedicle screw insertion in spine surgery and othopedics | Feng et al. (2019) | TiRobot/TINAVI medical technology Co., Ltd., China | Mounted on mobile platform, based on intraoperative C-arm imaging | |
| Pedicle screw insertion in spine surgery and othopedics | O’Connor et al. (2021) | Mazor X Stealth™/Medtronic, United States | Attachable to jackson table bedframes, additional side arm for sterile screen tablet | |
| Pediatric spinal surgery | Sensakovic et al. (2017) | |||
| Khan et al. (2019) | ||||
| Knee arthroplasty | Marchand et al. (2019) | MAKO/Stryker, United States | Mobile mounted arm; supports multiple use cases for total hip and knee replacement | |
| (DPIG) stereotactic needle biopsies, deep brain stimulation, pedicle screw insertion, circumferential arthrodesis | Carai et al. (2017) | ROSA ONE®/Zimmer biomet, United States | Supports multiple use cases for spine and brain surgery | |
| Vadera et al. (2017) | ||||
| Lefranc et al. (2015) | ||||
| Chenin et al. (2016) | ||||
| Hunsche et al. (2017) | ||||
| sEEG electrodes implantation | Spyrantis et al. (2018) | |||
| Knee arthroplasty | Lonner et al. (2015) | Navio/Smith & nephew, United States | Handheld robotic device | |
| Ponzio et al. (2015) | ||||
| CT/MRI | Thoracic and abdominopelvic interventional radiology procedures | Hungr et al. (2016) | LPR (light puncture robot)/ | Body mounted; piezoelectric motors + bowden cables |
| MRI | Needle guide | He et al. (2020) | −/− | Body mounted; fluid-driven actuators; marker-based tracking |
| Manual coarse targeting based on an initial MR dataset; manual needle positioning out-of-bore | ||||
| Needle guide (Shoulder Arthrography) | Patel et al. (2021) | −/− | Body mounted; piezoelectric motors | |
| Needle guide (lumbar spinal injections) | Li et al. (2020) | −/− | Body mounted; piezoelectric motors; Fiducial markers | |
| Prostate biopsies | Moreira et al. (2016) | MIRIAM Robot | table-mounted parallel robot; piezoelectric motors; needle tracking and steering; automatic needle insertion | |
| Breast biopsies | Chan et al. (2016) | −/− | table-mounted parallel robot; piezoelectric motors; manual needle insertion out-of-bore | |
| Needle guide (cryotherapy of renal cancer) | Hata et al. (2016) | −/− | Body mounted; piezoelectric motors | |
| Intracardiac catheterization | Lee et al. (2018) | −/− | table-mounted parallel robot; electro-hydraulic actuators; tele manipulator | |
| Endovascular instrumentation | Kundrat. et al | −/− | table-mounted; electro-pneumatic actuators; tele manipulator | |
| US | - | Lindenroth et al. (2017) | −/− | Soft end-effector; fluid-driven actuators; passive safety |
| 3D US acquisition | Huang et al. (2019) | Epson C4-A601S/Seiko | Depth camera; surface reconstruction; automatic probe positioning | |
| Epson corporation, Japan | ||||
| Screening of abdominal aortic aneurysms | Virga et al. (2016) | LBR iiwa/Kuka AG, Germany | Depth camera; surface reconstruction; automatic probe positioning based on skin surface and MRI data | |
| 3D US acquisition | Hennersperger et al. (2017) | LBR iiwa/Kuka AG, Germany | ||
| US-guided RT | Seitz et al. (2020) | LBR iiwa/Kuka AG, Germany | Optical tracking; breathing compensation | |
| US-guided biopsies/FUS | Berger et al. (2018) | LBR iiwa/Kuka AG, Germany | Dual-arm-system | |
| US-guided FUS | Unger et al. (2020) | LBR iiwa/Kuka AG, Germany | Vessel following; impedance mode | |
| US-imaging | Mathiassen et al. (2016) | UR5/Universal robots, Denmark | Force-torque sensor; haptic device for telemanipulation |