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Publisher DOI: 10.1515/cdbme-2020-0031
Title: Needle placement accuracy in CT-guided robotic post mortem biopsy
Language: English
Authors: Gromniak, Martin 
Neidhardt, Maximilian 
Heinemann, Axel 
Püschel, Klaus 
Schlaefer, Alexander 
Keywords: biopsy; CT imaging; forensic autopsy; robotics
Issue Date: 1-May-2020
Publisher: de Gruyter
Source: Current Directions in Biomedical Engineering 1 (6): 20200031 (2020)
Abstract (english): 
© 2020 Martin Gromniak et al., published by De Gruyter, Berlin/Boston 2020. Forensic autopsies include a thorough examination of the corpse to detect the source or alleged manner of death as well as to estimate the time since death. However, a full autopsy may be not feasible due to limited time, cost or ethical objections by relatives. Hence, we propose an automated minimal invasive needle biopsy system with a robotic arm, which does not require any online calibrations during a procedure. The proposed system can be easily integrated into the workflow of a forensic biopsy since the robot can be flexibly positioned relative to the corpse. With our proposed system, we performed needle insertions into wax phantoms and livers of two corpses and achieved an accuracy of 4.34 ± 1.27 mm and 10.81 ± 4.44 mm respectively.
DOI: 10.15480/882.3041
ISSN: 2364-5504
Journal: Current directions in biomedical engineering 
Institute: Medizintechnische Systeme E-1 
Document Type: Article
Project: Mechatronisch geführte Mikronavigation von Nadeln in Weichgewebe 
More Funding information: Deutsche Forschungsgemeinschaft (DFG)
License: CC BY 4.0 (Attribution) CC BY 4.0 (Attribution)
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