Visual servoing for automatic and uncalibrated needle placement for percutaneous procedures

Nassir Navab; Benedicte Bascle; Michael Loser; Bernhard Geiger; Russel Taylor

doi:10.1109/CVPR.2000.854838

Visual servoing for automatic and uncalibrated needle placement for percutaneous procedures

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

Whiting School of Engineering

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

16 Scopus citations

Abstract

This paper presents a new approach to image-based guidance of a needle or surgical tool during percutaneous procedures. The method is based on visual servoing. It requires no prior calibration or registration. The technique provides highly precise 3D-alignment of the tool with respect to an anatomic target. By taking advantage of projective geometry and projective invariants, this can be achieved in a fixed number (12) of iterations. In addition the approach estimates the required insertion depth. Experiments include automatic 3D alignment and insertion of a needle held by a medical robot into a pig kidney under X-ray fluoroscopy.

Original language	English (US)
Pages (from-to)	327-334
Number of pages	8
Journal	Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition
Volume	2
DOIs	https://doi.org/10.1109/CVPR.2000.854838
State	Published - 2000
Event	IEEE Conference on Computer Vision and Pattern Recognition, CVPR 2000 - Hilton Head Island, SC, USA Duration: Jun 13 2000 → Jun 15 2000

ASJC Scopus subject areas

Software
Computer Vision and Pattern Recognition

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10.1109/CVPR.2000.854838

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title = "Visual servoing for automatic and uncalibrated needle placement for percutaneous procedures",

abstract = "This paper presents a new approach to image-based guidance of a needle or surgical tool during percutaneous procedures. The method is based on visual servoing. It requires no prior calibration or registration. The technique provides highly precise 3D-alignment of the tool with respect to an anatomic target. By taking advantage of projective geometry and projective invariants, this can be achieved in a fixed number (12) of iterations. In addition the approach estimates the required insertion depth. Experiments include automatic 3D alignment and insertion of a needle held by a medical robot into a pig kidney under X-ray fluoroscopy.",

author = "Nassir Navab and Benedicte Bascle and Michael Loser and Bernhard Geiger and Russel Taylor",

year = "2000",

doi = "10.1109/CVPR.2000.854838",

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journal = "Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition",

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note = "IEEE Conference on Computer Vision and Pattern Recognition, CVPR 2000 ; Conference date: 13-06-2000 Through 15-06-2000",

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T1 - Visual servoing for automatic and uncalibrated needle placement for percutaneous procedures

AU - Navab, Nassir

AU - Bascle, Benedicte

AU - Loser, Michael

AU - Geiger, Bernhard

AU - Taylor, Russel

PY - 2000

Y1 - 2000

N2 - This paper presents a new approach to image-based guidance of a needle or surgical tool during percutaneous procedures. The method is based on visual servoing. It requires no prior calibration or registration. The technique provides highly precise 3D-alignment of the tool with respect to an anatomic target. By taking advantage of projective geometry and projective invariants, this can be achieved in a fixed number (12) of iterations. In addition the approach estimates the required insertion depth. Experiments include automatic 3D alignment and insertion of a needle held by a medical robot into a pig kidney under X-ray fluoroscopy.

AB - This paper presents a new approach to image-based guidance of a needle or surgical tool during percutaneous procedures. The method is based on visual servoing. It requires no prior calibration or registration. The technique provides highly precise 3D-alignment of the tool with respect to an anatomic target. By taking advantage of projective geometry and projective invariants, this can be achieved in a fixed number (12) of iterations. In addition the approach estimates the required insertion depth. Experiments include automatic 3D alignment and insertion of a needle held by a medical robot into a pig kidney under X-ray fluoroscopy.

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DO - 10.1109/CVPR.2000.854838

M3 - Conference article

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SN - 1063-6919

VL - 2

SP - 327

EP - 334

JO - Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition

JF - Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition

T2 - IEEE Conference on Computer Vision and Pattern Recognition, CVPR 2000

Y2 - 13 June 2000 through 15 June 2000

ER -

Visual servoing for automatic and uncalibrated needle placement for percutaneous procedures

Abstract

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