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Proceedings Paper

CT-directed robotic biopsy testbed: motivation and concept
Author(s): Kevin Robert Cleary; Dan S. Stoianovici; Neil D.W. Glossop; Kevin A. Gary; Sumiyo Onda; Richard Cody; David Lindisch; Alexandru Stanimir; Dumitru Mazilu; Alexandru Patriciu; Vance Watson; Elliot Levy
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Paper Abstract

As a demonstration platform, we are developing a robotic biopsy testbed incorporating a mobile CT scanner, a small needle driver robot, and an optical localizer. This testbed will be used to compare robotically assisted biopsy to the current manual technique, and allow us to investigate software architectures for integrating multiple medical devices. This is a collaboration between engineers and physicians from three universities and a commercial vendor. In this paper we describe the CT-directed biopsy technique, review some other biopsy systems including passive and semi- autonomous devices, describe our testbed components, and present our software architecture. This testbed is a first step in developing the image-guided, robotically assisted, physician directed, biopsy systems of the future.

Paper Details

Date Published: 28 May 2001
PDF: 6 pages
Proc. SPIE 4319, Medical Imaging 2001: Visualization, Display, and Image-Guided Procedures, (28 May 2001); doi: 10.1117/12.428059
Show Author Affiliations
Kevin Robert Cleary, Georgetown Univ. Medical Ctr. (United States)
Dan S. Stoianovici, Johns Hopkins Medical Institutions (United States)
Neil D.W. Glossop, Traxtal Technologies (Canada)
Kevin A. Gary, Unicon Inc. (United States)
Sumiyo Onda, Georgetown Univ. Medical Ctr. (United States)
Richard Cody, Georgetown Univ. Medical Ctr. (United States)
David Lindisch, Georgetown Univ. Medical Ctr. (United States)
Alexandru Stanimir, Johns Hopkins Medical Institutions (United States)
Dumitru Mazilu, Johns Hopkins Medical Institutions (United States)
Alexandru Patriciu, Johns Hopkins Medical Institutions (United States)
Vance Watson, Georgetown Univ. Medical Ctr. (United States)
Elliot Levy, Georgetown Univ. Medical Ctr. (United States)


Published in SPIE Proceedings Vol. 4319:
Medical Imaging 2001: Visualization, Display, and Image-Guided Procedures
Seong Ki Mun, Editor(s)

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