TY - GEN
T1 - A testbed system for robotically assisted percutaneous pattern therapy
AU - Bzostek, Andrew
AU - Barnes, Aaron C.
AU - Kumar, Rajesh
AU - Anderson, James H.
AU - Taylor, Russell H.
N1 - Publisher Copyright:
© Springer-Verlag Berlin Heidelberg 1999.
PY - 1999
Y1 - 1999
N2 - This paper presents a second generation prototype image-guided robotic system for percutaneous delivery of surgical devices and therapeutic agents, with potential applications in the treatment of liver cancer and other malignancies. The system is intended to deliver these devices and therapies more consistently and accurately than a physician can achieve freehand. This capability will permit the treatment of smaller lesions, will enable the physician to better achieve optimized patterns of therapy distribution, and will allow for more rapid re-targeting for multiple lesions. The system will allow treatment of patients for whom surgery is contraindicated and could potentially replace major surgery, reducing patient morbidity and mortality, as well as the cost of treatment. The new prototype system uses new, modular hardware and software components, which improve its accuracy, usability, and flexibility as compared to the first generation prototype. Techniques for image processing, both in 2D and 3D images, planning, and fiducial registration have also been developed. In vitro, the system achieves submillimetric accuracy in the placement of simulated treatment devices from a preoperative plan generated from 3D imagery. Some initial in vivo considerations have also been addressed, and work is ongoing in this area.
AB - This paper presents a second generation prototype image-guided robotic system for percutaneous delivery of surgical devices and therapeutic agents, with potential applications in the treatment of liver cancer and other malignancies. The system is intended to deliver these devices and therapies more consistently and accurately than a physician can achieve freehand. This capability will permit the treatment of smaller lesions, will enable the physician to better achieve optimized patterns of therapy distribution, and will allow for more rapid re-targeting for multiple lesions. The system will allow treatment of patients for whom surgery is contraindicated and could potentially replace major surgery, reducing patient morbidity and mortality, as well as the cost of treatment. The new prototype system uses new, modular hardware and software components, which improve its accuracy, usability, and flexibility as compared to the first generation prototype. Techniques for image processing, both in 2D and 3D images, planning, and fiducial registration have also been developed. In vitro, the system achieves submillimetric accuracy in the placement of simulated treatment devices from a preoperative plan generated from 3D imagery. Some initial in vivo considerations have also been addressed, and work is ongoing in this area.
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U2 - 10.1007/10704282_119
DO - 10.1007/10704282_119
M3 - Conference contribution
AN - SCOPUS:84983096190
SN - 354066503X
SN - 9783540665038
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 1098
EP - 1108
BT - Medical Image Computing and Computer-Assisted Intervention –MICCAI 1999 - 2nd International Conference, Proceedings
A2 - Taylor, Chris
A2 - Colchester, Alain
PB - Springer Verlag
T2 - 2nd International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 1999
Y2 - 19 September 1999 through 22 September 1999
ER -