Design and validation of an image-guided robot for small animal research

Peter Kazanzides, Jenghwa Chang, Iulian Iordachita, Jack Li, C. Clifton Ling, Gabor Fichtinger

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

Abstract

We developed an image-guided robot system to achieve highly accurate placement of thin needles and probes into in-vivo rodent tumor tissue in a predefined pattern that is specified on a preoperative image. This system can be used for many experimental procedures where the goal is to correlate a set of physical measurements with a corresponding set of image intensities or, more generally, to perform a physical action at a set of anatomic points identified on a preoperative image. This paper focuses on the design and validation of the robot system, where the first application is to insert oxygen measurement probes in a three-dimensional (3D) grid pattern defined with respect to a PET scan of a tumor. The design is compatible with CT and MRI, which we plan to use to identify targets for biopsy and for the injection of adenoviral sequences for gene therapy. The validation is performed using a phantom and includes a new method for estimating the Fiducial Localization Error (FLE) based on the measured Fiducial Distance Error (FDE).

Original languageEnglish (US)
Title of host publicationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
PublisherSpringer Verlag
Pages50-57
Number of pages8
Volume4190 LNCS - I
ISBN (Print)3540447075, 9783540447078
StatePublished - 2006
Event9th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2006 - Copenhagen, Denmark
Duration: Oct 1 2006Oct 6 2006

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume4190 LNCS - I
ISSN (Print)03029743
ISSN (Electronic)16113349

Other

Other9th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2006
CountryDenmark
CityCopenhagen
Period10/1/0610/6/06

ASJC Scopus subject areas

  • Computer Science(all)
  • Theoretical Computer Science

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  • Cite this

    Kazanzides, P., Chang, J., Iordachita, I., Li, J., Ling, C. C., & Fichtinger, G. (2006). Design and validation of an image-guided robot for small animal research. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 4190 LNCS - I, pp. 50-57). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4190 LNCS - I). Springer Verlag.