Needle placement under X-ray fluoroscopy using perspective invariants

Benedicte Bascle, Nassir Navab, Michael Loser, Bernhard Geiger, Russell Taylor

Research output: Contribution to conferencePaper

Abstract

This paper presents an approach for image-based guidance of a surgical tool towards multiple targets from fixed or variable entry points. The method is based on visual servoing. It requires no prior calibration or registration. By taking advantage of projective invariants, precise needle alignment to a target can be achieved in a fixed number (12) of iterations. Alignment to n targets can be performed in 6*(n+1) iterations. Elements of error analysis and a discussion of the `optimal' placement of the planes used in the method are given. We also show how the approach can be used to estimate the entry point and orientation to reach an anatomic target while passing through a given anatomic landmark.

Original languageEnglish (US)
Pages46-53
Number of pages8
StatePublished - Jan 1 2000
Externally publishedYes
EventMMBIA-2000: IEEE Workshop on Mathematical Methods in Biomedical Image Analysis - Hilton Head Island, SC, USA
Duration: Jun 11 2000Jun 12 2000

Other

OtherMMBIA-2000: IEEE Workshop on Mathematical Methods in Biomedical Image Analysis
CityHilton Head Island, SC, USA
Period6/11/006/12/00

ASJC Scopus subject areas

  • Analysis

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  • Cite this

    Bascle, B., Navab, N., Loser, M., Geiger, B., & Taylor, R. (2000). Needle placement under X-ray fluoroscopy using perspective invariants. 46-53. Paper presented at MMBIA-2000: IEEE Workshop on Mathematical Methods in Biomedical Image Analysis, Hilton Head Island, SC, USA, .