Motion-based robotic instrument targeting under C-arm fluoroscopy

Alexandra Patriciu, Dan Stoianovici, Louis L. Whitcomb, Thomas Jarrett, Dumitru Mazilu, Alexandra Stanimir, Iulian Iordachita, James Anderson, Russell Taylor, Louis R. Kavoussi

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

19 Scopus citations


We present a simple and precise robot targeting method under portable x-ray fluoroscopy based on image servoing. The method is implemented for needle alignment in percutaneous procedures using the PAKY-RCM robot developed in our laboratory. Initial clinical tests apply to the access of the renal collecting system. Previously reported methods for computer assisted instrument targeting under fluoroscopy use complex robot-image registration algorithms. These approaches use static images of fiducial markers to estimate the robot- image coordinate mapping, which is then used for targeting. In contrast, we report a new method to directly perform targeting by using a marker located on the robot/end-effector and performing Huoro-servoing under continuous imaging. Three-dimensional targeting is achieved by performing the alignment in two dissimilar views acquired at arbitrary C- Arm orientations. The percutaneous access implementation of this method provides automated alignment of the needle towards a surgeon specified target. Needle insertion is then controlled by the surgeon using side-view fluoroscopic feedback. The proposed method offers increased accuracy, simplicity, and repeatability. Moreover, initial clinical experiments suggest that through the use of this method access time and radiation dose have been reduced as compared to normal manual procedures.

Original languageEnglish (US)
Title of host publicationMedical Image Computing and Computer-Assisted Intervention - MICCAI 2000 - 3rd International Conference, Proceedings
EditorsScott L. Delp, Anthony M. DiGoia, Branislav Jaramaz
PublisherSpringer Verlag
Number of pages11
ISBN (Print)3540411895, 9783540411895
StatePublished - 2000
Event3rd International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2000 - Pittsburgh, United States
Duration: Oct 11 2000Oct 14 2000

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Other3rd International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2000
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)


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