Automatic Targeting Method and Accuracy Study in Robot Assisted Needle Procedures

Abstract

Abstract. We present an automatic needle targeting method for fluoroscopyguided percutaneous access procedures. The approach is derived from the manual needle superimposition technique making it intuitive and familiar to surgeons and radiologists. The proposed algorithm is insensitive to image distortion and does not require any C-Arm calibration or initial pose estimation. Needle alignment is performed using a direct adaptive visual servoing approach; once the desired orientation is achieved, insertion is performed using under joystick control. The algorithm was implemented and tested using our AcuBot robot, purposely built for percutaneous image guided interventions. A series of tests were performed showing that the proposed approach increases accuracy and reduces radiation exposure.

Needle insertion into soft tissue: A survey

“…Needle insertion has also been studied in the context of haptic rendering for simulation [30] and virtual reality systems for medical procedures [31,32]. Needle insertion with sensorless planning, respiratory motion simulation [33] and automatic targeting [34] are also topics that have attracted considerable research.…”

Visual servoing in medical robotics: a survey. Part II: tomographic imaging modalities - techniques and applications

“…Patriciu et al . later developed a different technique for orientating the needle, using a single view of the C‐arm. In this method, the C‐arm, tip of the needle and the target were manually adjusted to be collinear and then the needle was orientated along this line using visual servoing.…”

Image-guided techniques in renal and hepatic interventions

“…However, tools for real-time monitoring of the procedure were not provided by this system, as well as organ deformation. The PAKY robot was used by Patriciu et al (54) for needle alignment under X-ray fluoroscopy (XRF) guidance for percutaneous renal access. They took advantage of a passive marker (i.e., a radio-opaque spherical ball) to facilitate image-based tracking.…”

“…The PAKY robot was used by Patriciu et al . for needle alignment under X‐ray fluoroscopy (XRF) guidance for percutaneous renal access. They took advantage of a passive marker (i.e., a radio‐opaque spherical ball) to facilitate image‐based tracking.…”