@inproceedings{041586bcc761477882a71098f18db02a,
title = "CT fluoroscopy-guided robotically-assisted lung biopsy",
abstract = "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.",
keywords = "Lung biopsy, Medical robotics, Motion tracking, Real-time image processing",
author = "Sheng Xu and Gabor Fichtinger and Taylor, {Russell H.} and Filip Banovac and Kevin Cleary",
year = "2006",
doi = "10.1117/12.652882",
language = "English (US)",
isbn = "0819461849",
series = "Progress in Biomedical Optics and Imaging - Proceedings of SPIE",
booktitle = "Medical Imaging 2006",
note = "Medical Imaging 2006: Visualization, Image-Guided Procedures, and Display ; Conference date: 12-02-2006 Through 14-02-2006",
}