Robotic Kidney and Spine Percutaneous Procedures Using a New Laser-Based CT Registration Method
MICCAI '01 Proceedings of the 4th International Conference on Medical Image Computing and Computer-Assisted Intervention
ARTag, a Fiducial Marker System Using Digital Techniques
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 2 - Volume 02
An augmented reality system to guide radio-frequency tumour ablation: Research Articles
Computer Animation and Virtual Worlds
A low cost and accurate guidance system for laparoscopic surgery: validation on an abdominal phantom
Proceedings of the ACM symposium on Virtual reality software and technology
Design and validation of an image-guided robot for small animal research
MICCAI'06 Proceedings of the 9th international conference on Medical Image Computing and Computer-Assisted Intervention - Volume Part I
| Hi-index | 0.00 |
To improve therapy research against cancer, we propose a robotized computer assisted system for needle insertion devoted to the small animal. The system is composed of a robotic arm on which the needle is attached and two cameras rigidly linked. It needs a preoperative CT acquisition in which the biologist defines an entry point and the target he wants to reach. The needle guidance is ensured by a visual servoing and the needle is registered in the CT frame using radio-opaque markers stuck beforehand on the small animal.Biologists estimate that such a system can be beneficial if the time preparation per animal remains below 15 minutes and if the insertion accuracy is within 1 mm. Several error sources can be identified : the error due to the system only, the organ repositioning error (due to breathing motions) and the error induced by the needle insertion.In this paper, we report an evaluation on living rats of the system error and of the organ repositioning error. Encouraging results show that a global accuracy of 0.9 mm may be reached with an acceptable preparation time.