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Proceedings Paper

CT fluoroscopy-guided robotically-assisted lung biopsy
Author(s): Sheng Xu; Gabor Fichtinger; Russell H. Taylor; Filip Banovac; Kevin Cleary
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Paper Abstract

Lung biopsy is a common interventional radiology procedure. One of the difficulties in performing the lung biopsy is that lesions move with respiration. This paper presents a new robotically assisted lung biopsy system for CT fluoroscopy that can automatically compensate for the respiratory motion during the intervention. The system consists of a needle placement robot to hold the needle on the CT scan plane, a radiolucent Z-frame for registration of the CT and robot coordinate systems, and a frame grabber to obtain the CT fluoroscopy image in real-time. The CT fluoroscopy images are used to noninvasively track the motion of a pulmonary lesion in real-time. The position of the lesion in the images is automatically determined by the image processing software and the motion of the robot is controlled to compensate for the lesion motion. The system was validated under CT fluoroscopy using a respiratory motion simulator. A swine study was also done to show the feasibility of the technique in a respiring animal.

Paper Details

Date Published: 10 March 2006
PDF: 8 pages
Proc. SPIE 6141, Medical Imaging 2006: Visualization, Image-Guided Procedures, and Display, 61411L (10 March 2006); doi: 10.1117/12.652882
Show Author Affiliations
Sheng Xu, Johns Hopkins Univ. (United States)
Gabor Fichtinger, Johns Hopkins Univ. (United States)
Russell H. Taylor, Johns Hopkins Univ. (United States)
Filip Banovac, Georgetown Univ. Medical Ctr. (United States)
Kevin Cleary, Georgetown Univ. Medical Ctr. (United States)


Published in SPIE Proceedings Vol. 6141:
Medical Imaging 2006: Visualization, Image-Guided Procedures, and Display
Kevin R. Cleary; Robert L. Galloway, Jr., Editor(s)

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