@inproceedings{b41af9a20d1d4fbfa25ed0756fedccd6,
title = "Medical robotics and fluoroscopy servoing: Automating needle placement for spine procedures",
abstract = "This paper begins with an overview of medical robotics and then describes an algorithm for automatic needle placement using a six degree of freedom (DOF) robot during minimally invasive spine procedures. The term fluoroscopy servoing is given to this process since an x-ray fluoroscope is used as the visualization tool, A software application was developed to segment the needle in the x-ray images to find its position, which is then used as feedback to control the robot and move it to a desired target point. Twenty trials were performed in a cadaver study and the robot reached the desired target point with an average distance error of 1.21 mm.",
keywords = "Fluoroscopy Servoing, Medical Robotics, Needle Segmentation",
author = "Gabriela Corral and Luis Ib{\'a}{\~n}ez and Charles Nguyen and Dan Stoianovici and Nassir Navab and Kevin Cleary",
year = "2004",
language = "English",
isbn = "188933524X",
series = "Image Processing, Biomedicine, Multimedia, Financial Engineering and Manufacturing - Proceedings of the Sixth Biannual World Automation Congress",
pages = "293--297",
editor = "M. Jamshidi and Y. Hata and A. Kamrani and J.S. Jamshidi",
booktitle = "Image Processing, Biomedicine, Multimedia, Financial Engineering and Manufacturing - International Forum on Multimedia Image Processing, IFMIP - Proceedings of the Sixth Biannual World Automation Cong",
note = "Image Processing, Biomedicine, Multimedia, Financial Engineering and Manufacturing - International Forum on Multimedia Image Processing, IFMIP - Sixth Biannual World Automation Congress, WAC 2004 ; Conference date: 26-06-2004 Through 01-07-2004",
}