AUTHOR=Lu Jiaxin , Huang Zekai , Zhuang Baiyang , Cheng Zhuoqi , Guo Jing , Lou Haifang 

TITLE=Development and evaluation of a robotic system for lumbar puncture and epidural steroid injection

JOURNAL=Frontiers in Neurorobotics

VOLUME=Volume 17 - 2023

YEAR=2023

URL=https://www.frontiersin.org/journals/neurorobotics/articles/10.3389/fnbot.2023.1253761

DOI=10.3389/fnbot.2023.1253761

ISSN=1662-5218

ABSTRACT=Lumbar puncture is an important medical procedure for various diagnostics and therapies, but can be hazardous due to individual variances in subcutaneous soft tissue, especially in the elderly and obese. Our research describes a novel robot-assisted puncture system that automatically controls and maintains the probe at the target tissue layer through a process of tissue recognition. The system comprises a robotic system and a master computer. The robotic system is constructed based on a probe consisting of a pair of concentric electrodes. From