A Single Image Registration Method for CT Guided Interventions

Minimally invasive image guided interventions are an attractive option for localized therapy delivery and diagnostic biopsy. We have developed a method for CT guided needle placement, based upon the Brown-Roberts-Wells frame, which requires no immobilization or fiducial implantation. A localization module, placed on a needle holding robotic end effector, allows for localization of the effector in the image space using a single CT image. In a theoretical analysis, we show that this registration method has attractive sensitivity and error attenuation properties. Experimentally, the average error in needle tip location over 63 trials

• Type: Conference
• Year: 1999
• Where: MICCAI
• Authors: Robert C. Susil, James H. Anderson, Russell H. Taylor
• Keywords: Image Guided Interventions, Medical Imaging, MICCAI 1999, Needle Tip Location, Robotic End Effector