Medical robotics and fluoroscopy servoing: Automating needle placement for spine procedures

Gabriela Corral, Luis Ibáñez, Charles Nguyen, Dan Stoianovici, Nassir Navab, Kevin Cleary

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

Abstract

This paper begins with an overview of medical robotics and then describes an algorithm for automatic needle placement using a six degree of freedom (DOF) robot during minimally invasive spine procedures. The term fluoroscopy servoing is given to this process since an x-ray fluoroscope is used as the visualization tool, A software application was developed to segment the needle in the x-ray images to find its position, which is then used as feedback to control the robot and move it to a desired target point. Twenty trials were performed in a cadaver study and the robot reached the desired target point with an average distance error of 1.21 mm.

Original languageEnglish (US)
Title of host publicationImage Processing, Biomedicine, Multimedia, Financial Engineering and Manufacturing - International Forum on Multimedia Image Processing, IFMIP - Proceedings of the Sixth Biannual World Automation Cong
EditorsM. Jamshidi, Y. Hata, A. Kamrani, J.S. Jamshidi
Pages293-297
Number of pages5
StatePublished - Dec 1 2004
EventImage Processing, Biomedicine, Multimedia, Financial Engineering and Manufacturing - International Forum on Multimedia Image Processing, IFMIP - Sixth Biannual World Automation Congress, WAC 2004 - Seville, Spain
Duration: Jun 26 2004Jul 1 2004

Publication series

NameImage Processing, Biomedicine, Multimedia, Financial Engineering and Manufacturing - Proceedings of the Sixth Biannual World Automation Congress

Other

OtherImage Processing, Biomedicine, Multimedia, Financial Engineering and Manufacturing - International Forum on Multimedia Image Processing, IFMIP - Sixth Biannual World Automation Congress, WAC 2004
CountrySpain
CitySeville
Period6/26/047/1/04

Keywords

  • Fluoroscopy Servoing
  • Medical Robotics
  • Needle Segmentation

ASJC Scopus subject areas

  • Engineering(all)

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