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Proceedings Paper

Registration and motion compensation of a needle placement robot for CT-guided spinal procedures
Author(s): Sheng Xu; Kevin R. Cleary; Dan Stoianovici; Gabor Fichtinger
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Paper 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.

Paper Details

Date Published: 12 April 2005
PDF: 9 pages
Proc. SPIE 5744, Medical Imaging 2005: Visualization, Image-Guided Procedures, and Display, (12 April 2005); doi: 10.1117/12.594731
Show Author Affiliations
Sheng Xu, Johns Hopkins Univ. (United States)
Kevin R. Cleary, Georgetown Univ. Medical Ctr. (United States)
Dan Stoianovici, Johns Hopkins Medical Institutions (United States)
Gabor Fichtinger, Johns Hopkins Univ. (United States)

Published in SPIE Proceedings Vol. 5744:
Medical Imaging 2005: Visualization, Image-Guided Procedures, and Display
Robert L. Galloway; Kevin R. Cleary, Editor(s)

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