Registration and motion compensation of a needle placement robot for CT-guided spinal procedures

Sheng Xu; Kevin Cleary; Dan Stoianovici; Gabor Fichtinger

doi:10.1117/12.594731

Registration and motion compensation of a needle placement robot for CT-guided spinal procedures

Sheng Xu, Kevin Cleary, Dan Stoianovici, Gabor Fichtinger

School of Medicine

Research output: Contribution to journal › Conference article › peer-review

Abstract

Computed tomography (CT) guided needle placement is an established practice in the medical field. The efficacy of these procedures is related to the accuracy of needle placement. Current free-hand techniques have limitations in accuracy, which is often affected by the patient motion. In response to these problems and as a testbed for future developments, we propose a robotically assisted needle placement system consisting of a mobile CT scanner, a needle insertion robot, and an optical localizer. This paper presents the overall system concept and concentrates on the system registration and compensation of the patient motion. Accuracy results using an abdominal phantom are also presented.

Original language	English (US)
Article number	72
Pages (from-to)	661-669
Number of pages	9
Journal	Progress in Biomedical Optics and Imaging - Proceedings of SPIE
Volume	5744
Issue number	II
DOIs	https://doi.org/10.1117/12.594731
State	Published - 2005
Event	Medical Imaging 2005 - Visualization, Image-Guided Procedures, and Display - San Diego, CA, United States Duration: Feb 13 2005 → Feb 15 2005

Keywords

Image guidance
Medical imaging
Medical robotics
Needle placement
Registration
Tracking

ASJC Scopus subject areas

Electronic, Optical and Magnetic Materials
Biomaterials
Atomic and Molecular Physics, and Optics
Radiology Nuclear Medicine and imaging

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10.1117/12.594731

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title = "Registration and motion compensation of a needle placement robot for CT-guided spinal procedures",

abstract = "Computed tomography (CT) guided needle placement is an established practice in the medical field. The efficacy of these procedures is related to the accuracy of needle placement. Current free-hand techniques have limitations in accuracy, which is often affected by the patient motion. In response to these problems and as a testbed for future developments, we propose a robotically assisted needle placement system consisting of a mobile CT scanner, a needle insertion robot, and an optical localizer. This paper presents the overall system concept and concentrates on the system registration and compensation of the patient motion. Accuracy results using an abdominal phantom are also presented.",

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AU - Xu, Sheng

AU - Cleary, Kevin

AU - Stoianovici, Dan

AU - Fichtinger, Gabor

PY - 2005

Y1 - 2005

N2 - Computed tomography (CT) guided needle placement is an established practice in the medical field. The efficacy of these procedures is related to the accuracy of needle placement. Current free-hand techniques have limitations in accuracy, which is often affected by the patient motion. In response to these problems and as a testbed for future developments, we propose a robotically assisted needle placement system consisting of a mobile CT scanner, a needle insertion robot, and an optical localizer. This paper presents the overall system concept and concentrates on the system registration and compensation of the patient motion. Accuracy results using an abdominal phantom are also presented.

AB - Computed tomography (CT) guided needle placement is an established practice in the medical field. The efficacy of these procedures is related to the accuracy of needle placement. Current free-hand techniques have limitations in accuracy, which is often affected by the patient motion. In response to these problems and as a testbed for future developments, we propose a robotically assisted needle placement system consisting of a mobile CT scanner, a needle insertion robot, and an optical localizer. This paper presents the overall system concept and concentrates on the system registration and compensation of the patient motion. Accuracy results using an abdominal phantom are also presented.

KW - Image guidance

KW - Medical imaging

KW - Medical robotics

KW - Needle placement

KW - Registration

KW - Tracking

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ER -

Registration and motion compensation of a needle placement robot for CT-guided spinal procedures

Abstract

Keywords

ASJC Scopus subject areas

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