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Proceedings Paper

CTBot: A stereotactic-guided robotic assistant for percutaneous procedures of the abdomen
Author(s): Benjamin Maurin; Christophe Doignon; Jacques Gangloff; Bernard Bayle; Michel de Mathelin; Olivier Piccin; Afshin Gangi
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Paper Abstract

This article presents positioning results of a stereotactic robotic assistant for percutaneous needle insertions in the abdomen. The robotic system, called the CT-Bot, is succinctly described. This mechanically safe device is compatible with medical requirements and offers a novel approach robotic needle insertion with computed tomography guidance. Our system does self-registration using only visual information from a fiducial marker. The theoretical developments explain how the pose reconstruction is done using only four fiducial points and how the automatic registration algorithm is achieved. The results concern the automatic positioning of the tip of a needle with respect to a reference point selected in a CT-image. The accuracy of the positioning result show how interesting this system is for clinical use.

Paper Details

Date Published: 12 April 2005
PDF: 10 pages
Proc. SPIE 5744, Medical Imaging 2005: Visualization, Image-Guided Procedures, and Display, (12 April 2005); doi: 10.1117/12.595302
Show Author Affiliations
Benjamin Maurin, LSIIT/Strasbourg I Univ. (France)
Christophe Doignon, LSIIT/Strasbourg I Univ. (France)
Jacques Gangloff, LSIIT/Strasbourg I Univ. (France)
Bernard Bayle, LSIIT/Strasbourg I Univ. (France)
Michel de Mathelin, LSIIT/Strasbourg I Univ. (France)
Olivier Piccin, LICIA/INSA-Strasbourg (France)
Afshin Gangi, Univ. Hospital of Strasbourg (France)

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

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