Motion-Based Robotic Instrument Targeting under C-Arm Fluoroscopy

: We present a simple and precise robot targeting method under portable x-ray fluoroscopy based on image servoing. The method is implemented for needle alignment in percutaneous procedures using the PAKY-RCM robot developed in our laboratory. Initial clinical tests apply to the access of the renal collecting system. Previously reported methods for computer assisted instrument targeting under fluoroscopy use complex robot-image registration algorithms. These approaches use static images of fiducial markers to estimate the robot-image coordinate mapping, which is then used for targeting. In contrast, we report a new method to directly perform targeting by using a marker located on the robot/end-effector and performing fluoro-servoing under continuous imaging. Three-dimensional targeting is achieved by performing the alignment in two dissimilar views acquired at arbitrary C-Arm orientations. The percutaneous access implementation of this method provides automated alignment of the needle t...

• Type: Conference
• Year: 2000
• Where: MICCAI
• Authors: Alexandru Patriciu, Dan Stoianovici, Louis L. Whitcomb, Thomas Jarrett, Dumitru Mazilu, Alexandru Stanimir, Iulian Iordachita, James H. Anderson, Russell H. Taylor, Louis R. Kavoussi
• Keywords: Medical Imaging, Method Access Time, MICCAI 2000, Needle Alignment, Robot Targeting Method