Description:
Video Title : A Novel Manipulator for 3D Ultrasound Guided 
Percutaneous Needle Insertion

The video presents the working of a novel five degrees-of-freedom 
(DOF) manipulator for percutaneous needle insertion. The manipulator 
is capable of orienting the needle in two DOF's about a remote 
center of motion point. The needle can be linearly translated and 
rotated about its longitudinal axis to minimize needle tip deflection.
The mechanism has an automated plunger to drop radioactive seeds as 
the needle is being extracted. Manipulator motion in "free air" and 
needle insertion experiments in agar phantom are presented here to 
prove the feasibilty and efficacy of the robotic system. The video 
also presentes the Graphical User Interface which was dseveloped 
using 3D SLICER software. 

Player Information:
The video has been tested to work with the following players:
Apple QuickTime Player 7.0.3 (http://www.apple.com/quicktime/win.html)
VLC Media Player 0.8.5 (http://www.videolan.org)

Contact Information:
Contact Author Name : Harmanpreet Bassan
Contact Author Email: hsbassan@uwo.ca
University : The University of Western Ontario, London, Ontario, Canada
Video Authors: Harmanpreet Bassan, Timothy Hayes, Rajni V. Patel 
and Mehrdad Moallem



Attachment filename: 1511_VI.mp4 (5038686 Bytes)