TY - GEN
T1 - Cooperative robotic gamma imaging
T2 - 18th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2015
AU - Esposito, Marco
AU - Busam, Benjamin
AU - Hennersperger, Christoph
AU - Rackerseder, Julia
AU - Lu, An
AU - Navab, Nassir
AU - Frisch, Benjamin
N1 - Publisher Copyright:
© Springer International Publishing Switzerland 2015.
PY - 2015
Y1 - 2015
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84951036475&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-24571-3_73
DO - 10.1007/978-3-319-24571-3_73
M3 - Conference contribution
AN - SCOPUS:84951036475
SN - 9783319245706
SN - 9783319245706
SN - 9783319245706
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 611
EP - 618
BT - Medical Image Computing and Computer-Assisted Intervention - MICCAI 2015 - 18th International Conference, Proceedings
A2 - Hornegger, Joachim
A2 - Frangi, Alejandro F.
A2 - Wells, William M.
A2 - Frangi, Alejandro F.
A2 - Navab, Nassir
A2 - Hornegger, Joachim
A2 - Navab, Nassir
A2 - Wells, William M.
A2 - Wells, William M.
A2 - Frangi, Alejandro F.
A2 - Hornegger, Joachim
A2 - Navab, Nassir
PB - Springer Verlag
Y2 - 5 October 2015 through 9 October 2015
ER -