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Proceedings Paper

Needle targeting under C-arm fluoroscopy servoing
Author(s): Cristian Mihaescu; Luis Ibanez; Mihai Mocanu; Kevin R. Cleary
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Paper Abstract

This paper describes a method for translational and orientational alignment of a robotic needle driver based on image servoing and x-ray fluoroscopy. The translational process works by segmenting the needle in a frame-grabbed fluoroscopic image and then commanding the robot to automatically move the needle tip to the skin entry point. The orientational alignment is then completed based on five different positions of the needle tip. Previously reported fluoroscopy servoing methods use complex robot-image registration algorithms, fiducial markers, and two or more dissimilar views that included moving the fluoroscope. Our method aligns the needle using one setting of the fluoroscope so that it does not need to be moved during the alignment process. Sample results from both the translational and orientational steps are included.

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: 10.1117/12.597185
Show Author Affiliations
Cristian Mihaescu, Georgetown Univ. (United States)
Univ. of Craiova (Romania)
Luis Ibanez, Kitware, Inc. (United States)
Mihai Mocanu, Univ. of Craiova (Romania)
Kevin R. Cleary, Georgetown Univ. (United States)

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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