CT fluoroscopy-guided robotically-assisted lung biopsy

Sheng Xu, Gabor Fichtinger, Russell H. Taylor, Filip Banovac, Kevin Cleary

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Lung biopsy is a common interventional radiology procedure. One of the difficulties in performing the lung biopsy is that lesions move with respiration. This paper presents a new robotically assisted lung biopsy system for CT fluoroscopy that can automatically compensate for the respiratory motion during the intervention. The system consists of a needle placement robot to hold the needle on the CT scan plane, a radiolucent Z-frame for registration of the CT and robot coordinate systems, and a frame grabber to obtain the CT fluoroscopy image in real-time. The CT fluoroscopy images are used to noninvasively track the motion of a pulmonary lesion in real-time. The position of the lesion in the images is automatically determined by the image processing software and the motion of the robot is controlled to compensate for the lesion motion. The system was validated under CT fluoroscopy using a respiratory motion simulator. A swine study was also done to show the feasibility of the technique in a respiring animal.

Original languageEnglish (US)
Title of host publicationMedical Imaging 2006
Subtitle of host publicationVisualization, Image-Guided Procedures, and Display
StatePublished - Jun 30 2006
EventMedical Imaging 2006: Visualization, Image-Guided Procedures, and Display - San Diego, CA, United States
Duration: Feb 12 2006Feb 14 2006

Publication series

NameProgress in Biomedical Optics and Imaging - Proceedings of SPIE
ISSN (Print)1605-7422


OtherMedical Imaging 2006: Visualization, Image-Guided Procedures, and Display
Country/TerritoryUnited States
CitySan Diego, CA


  • Lung biopsy
  • Medical robotics
  • Motion tracking
  • Real-time image processing

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Biomaterials
  • Atomic and Molecular Physics, and Optics
  • Radiology Nuclear Medicine and imaging


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