Stereofluoroscopic image-guided robotic biopsy system

Minyan Shi; Hong Liu; Gang Tao; Laurie L. Fajardo M.D.

doi:10.1117/12.351539

9 July 1999 Stereofluoroscopic image-guided robotic biopsy system

Minyan Shi, Hong Liu, Gang Tao, Laurie L. Fajardo M.D.

Proceedings Volume 3595, Biomedical Diagnostic, Guidance, and Surgical-Assist Systems; (1999) https://doi.org/10.1117/12.351539
Event: BiOS '99 International Biomedical Optics Symposium, 1999, San Jose, CA, United States

Abstract

This paper presents the key techniques of a stereo- fluoroscopic image-guided robotic biopsy system: 3D position reconstruction, 3D path planning, path registration and robot trajectory control with safety considerations. This system automatically adjusts the needle inserting path according to a real-time 3D position error feedback. This system is particularly applicable to the soft tissue and organ biopsy, with advantages of increased accuracy, short completion time and minimum invasiveness to the patient. Simulation shows the safety and accuracy of this robotic biopsy system.

Citation Download Citation

Minyan Shi, Hong Liu, Gang Tao, and Laurie L. Fajardo M.D. "Stereofluoroscopic image-guided robotic biopsy system", Proc. SPIE 3595, Biomedical Diagnostic, Guidance, and Surgical-Assist Systems, (9 July 1999); https://doi.org/10.1117/12.351539

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