Cooperative robotic gamma imaging: Enhancing US-guided needle biopsy

Marco Esposito, Benjamin Busam, Christoph Hennersperger, Julia Rackerseder, An Lu, Nassir Navab, Benjamin Frisch

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

14 Scopus citations

Abstract

Sentinel lymph node (sLN) biopsy mostly requires an invasive surgical intervention to remove sLNs under radioguidance. We present an alternative method where live ultrasound is combined with live robotic gamma imaging to provide real-time anatomical and nuclear guidance of punch biopsies. The robotic arm holding a gamma camera is equipped with a system for inside-out tracking to directly retrieve the relative position of the US transducer with respect to itself. Based on this, the system cooperatively positions the gamma camera parallel to the US imaging plane selected by the physician for real-time multi-modal visualization. We validate the feasibility of this approach with a dedicated gelatine/agar biopsy phantom and show that lymph nodes separated by at least 10 mm can be distinguished.

Original languageEnglish
Title of host publicationMedical Image Computing and Computer-Assisted Intervention - MICCAI 2015 - 18th International Conference, Proceedings
EditorsJoachim Hornegger, Alejandro F. Frangi, William M. Wells, Alejandro F. Frangi, Nassir Navab, Joachim Hornegger, Nassir Navab, William M. Wells, William M. Wells, Alejandro F. Frangi, Joachim Hornegger, Nassir Navab
PublisherSpringer Verlag
Pages611-618
Number of pages8
ISBN (Print)9783319245706, 9783319245706, 9783319245706
DOIs
StatePublished - 2015
Event18th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2015 - Munich, Germany
Duration: 5 Oct 20159 Oct 2015

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume9350
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference18th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2015
Country/TerritoryGermany
CityMunich
Period5/10/159/10/15

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