TY - GEN
T1 - Robot Assisted Needle Insertion Using CT-Scan Images
AU - Barkhordari, Maryam
AU - Sadeghian, Hamid
AU - Keshmiri, Mehdi
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - In this paper, the problem of robot assisted needle insertion is investigated. Using robot as an assistive device in needle insertion procedures increases accuracy and precision of point targeting inside the human body. This way, the time of the procedure, the operator's error, and the amount of absorbed dose of the radiations for the patient decrease, dramatically. Implementation of this scenario needs a precise workflow that considers all the issues related to the registration of the imaging system, robot and the patient. We utilize a registration approach without the use of optical tracking devices and propose a workflow to improve the needle placement efficiency. The proposed setup consists of a lightweight robot arm with a custom-designed tool holder mounted on its end effector. The procedure is implemented on a dummy lumbar-section phantom with multiple markers.
AB - In this paper, the problem of robot assisted needle insertion is investigated. Using robot as an assistive device in needle insertion procedures increases accuracy and precision of point targeting inside the human body. This way, the time of the procedure, the operator's error, and the amount of absorbed dose of the radiations for the patient decrease, dramatically. Implementation of this scenario needs a precise workflow that considers all the issues related to the registration of the imaging system, robot and the patient. We utilize a registration approach without the use of optical tracking devices and propose a workflow to improve the needle placement efficiency. The proposed setup consists of a lightweight robot arm with a custom-designed tool holder mounted on its end effector. The procedure is implemented on a dummy lumbar-section phantom with multiple markers.
KW - Biopsy
KW - Minimally invasive Surgery (MIS)
KW - Needle insertion
KW - Registration
KW - Robot assisted
UR - https://www.scopus.com/pages/publications/85063494386
U2 - 10.1109/ICRoM.2018.8657487
DO - 10.1109/ICRoM.2018.8657487
M3 - Conference contribution
AN - SCOPUS:85063494386
T3 - Proceedings of the 6th RSI International Conference on Robotics and Mechatronics, IcRoM 2018
SP - 566
EP - 571
BT - Proceedings of the 6th RSI International Conference on Robotics and Mechatronics, IcRoM 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th RSI International Conference on Robotics and Mechatronics, IcRoM 2018
Y2 - 23 October 2018 through 25 October 2018
ER -