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3 April 2007 Precision instrument placement using a 4-DOF robot with integrated fiducials for minimally invasive interventions
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Minimally invasive procedures are increasingly attractive to patients and medical personnel because they can reduce operative trauma, recovery times, and overall costs. However, during these procedures, the physician has a very limited view of the interventional field and the exact position of surgical instruments. We present an image-guided platform for precision placement of surgical instruments based upon a small four degree-of-freedom robot (B-RobII; ARC Seibersdorf Research GmbH, Vienna, Austria). This platform includes a custom instrument guide with an integrated spiral fiducial pattern as the robot's end-effector, and it uses intra-operative computed tomography (CT) to register the robot to the patient directly before the intervention. The physician can then use a graphical user interface (GUI) to select a path for percutaneous access, and the robot will automatically align the instrument guide along this path. Potential anatomical targets include the liver, kidney, prostate, and spine. This paper describes the robotic platform, workflow, software, and algorithms used by the system. To demonstrate the algorithmic accuracy and suitability of the custom instrument guide, we also present results from experiments as well as estimates of the maximum error between target and instrument tip.
© (2007) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Roland Stenzel, Ralph Lin, Peng Cheng, Gernot Kronreif, Martin Kornfeld, David Lindisch, Bradford J. Wood, Anand Viswanathan, and Kevin Cleary "Precision instrument placement using a 4-DOF robot with integrated fiducials for minimally invasive interventions", Proc. SPIE 6509, Medical Imaging 2007: Visualization and Image-Guided Procedures, 65092S (3 April 2007);

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