Registration and motion compensation of a needle placement robot for CT-guided spinal procedures

Sheng Xu; Kevin R. Cleary; Dan Stoianovici; Gabor Fichtinger

doi:10.1117/12.594731

12 April 2005 Registration and motion compensation of a needle placement robot for CT-guided spinal procedures

Sheng Xu, Kevin R. Cleary, Dan Stoianovici, Gabor Fichtinger

Proceedings Volume 5744, Medical Imaging 2005: Visualization, Image-Guided Procedures, and Display; (2005) https://doi.org/10.1117/12.594731
Event: Medical Imaging, 2005, San Diego, California, United States

Abstract

Computed tomography (CT) guided needle placement is an established practice in the medical field. The efficacy of these procedures is related to the accuracy of needle placement. Current free-hand techniques have limitations in accuracy, which is often affected by the patient motion. In response to these problems and as a testbed for future developments, we propose a robotically assisted needle placement system consisting of a mobile CT scanner, a needle insertion robot, and an optical localizer. This paper presents the overall system concept and concentrates on the system registration and compensation of the patient motion. Accuracy results using an abdominal phantom are also presented.

Citation Download Citation

Sheng Xu, Kevin R. Cleary, Dan Stoianovici, and Gabor Fichtinger "Registration and motion compensation of a needle placement robot for CT-guided spinal procedures", Proc. SPIE 5744, Medical Imaging 2005: Visualization, Image-Guided Procedures, and Display, (12 April 2005); https://doi.org/10.1117/12.594731

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