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Proceedings Paper

Stereofluoroscopic image-guided robotic biopsy system
Author(s): Minyan Shi; Hong Liu; Gang Tao; Laurie L. Fajardo
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Paper Abstract

This paper presents the key techniques of a stereo- fluoroscopic image-guided robotic biopsy system: 3D position reconstruction, 3D path planning, path registration and robot trajectory control with safety considerations. This system automatically adjusts the needle inserting path according to a real-time 3D position error feedback. This system is particularly applicable to the soft tissue and organ biopsy, with advantages of increased accuracy, short completion time and minimum invasiveness to the patient. Simulation shows the safety and accuracy of this robotic biopsy system.

Paper Details

Date Published: 9 July 1999
PDF: 8 pages
Proc. SPIE 3595, Biomedical Diagnostic, Guidance, and Surgical-Assist Systems, (9 July 1999); doi: 10.1117/12.351539
Show Author Affiliations
Minyan Shi, Univ. of Virginia (United States)
Hong Liu, Univ. of Virginia (United States)
Gang Tao, Univ. of Virginia (United States)
Laurie L. Fajardo, Univ. of Virginia (United States)


Published in SPIE Proceedings Vol. 3595:
Biomedical Diagnostic, Guidance, and Surgical-Assist Systems
Tuan Vo-Dinh; Warren S. Grundfest; David A. Benaron; Steven T. Charles; Richard D. Bucholz; Michael W. Vannier, Editor(s)

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