Needle targeting under C-arm fluoroscopy servoing

Cristian Mihaescu; Luis Ibanez; Mihai Mocanu; Kevin R. Cleary

doi:10.1117/12.597185

12 April 2005 Needle targeting under C-arm fluoroscopy servoing

Cristian Mihaescu, Luis Ibanez, Mihai Mocanu, Kevin R. Cleary

Author Affiliations +

Proceedings Volume 5744, Medical Imaging 2005: Visualization, Image-Guided Procedures, and Display; (2005) https://doi.org/10.1117/12.597185
Event: Medical Imaging, 2005, San Diego, California, United States

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.

Citation Download Citation

Cristian Mihaescu, Cristian Mihaescu, Luis Ibanez, Luis Ibanez, Mihai Mocanu, Mihai Mocanu, Kevin R. Cleary, Kevin R. Cleary, "Needle targeting under C-arm fluoroscopy servoing", Proc. SPIE 5744, Medical Imaging 2005: Visualization, Image-Guided Procedures, and Display, (12 April 2005); doi: 10.1117/12.597185; https://doi.org/10.1117/12.597185

ACCESS THE FULL ARTICLE

PERSONAL SIGN IN
Full access may be available with your subscription

Email or Username Forgot your username?

Password Forgot your password?

Show

Remember Email/Username on this computer

Remember Password

No SPIE account? Create an account
or Institutional Sign In via Shibboleth

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $14.40

Non-members: $18.00 ADD TO CART

Show All Keywords

Keywords/Phrases

Search In:

Publication Years