Method for C-arm Based Guide Needle Insertion Assistant System for Endoscopic Disc Surgery

Yoon, Hyon Min; Hyun-Chul, Cho; Park, Kyusic; Shin, Sangkyun; Lee, Deukhee

doi:10.7315/cadcam.2015.263

“…Meanwhile, fluoroscopy units (C-arms), as most commonly used equipment in the modern operating room, can provide precise and realtime intraoperative two-dimensional (2-D) visualization. The combination of these two techniques dramatically improves the applications of minimally invasive surgery [6][7][8][9].…”

Section: Introductionmentioning

confidence: 99%

A targeting method for robot-assisted percutaneous needle placement under fluoroscopy guidance

Han

¹

,

Yu

²

,

Hu

³

et al. 2019

Computer Assisted Surgery

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Minimally invasive procedures are rapidly growing in popularity thanks to advancements in medical robots, visual navigation and space registration techniques. This paper presents a precise and efficient targeting method for robot-assisted percutaneous needle placement under Carm fluoroscopy. In this method, a special end-effector was constructed to perform fluoroscopy calibration and robot to image-space registration simultaneously. In addition, formulations were given to compute the movement of robot targeting and evaluate targeting accuracy using only one X-ray image. With these techniques, radiation exposure and operation time were reduced significantly compared to other commonly used methods. A pre-clinical experiment showed that the maximum angle error was 0.94 and the maximum position error of a target located 80mm below the end-effector was 1.31mm. And evaluation of the system in a robot-assisted pedicle screws placement surgery has justified the accuracy and reliability of proposed method in clinical applications.

show abstract

A targeting method for robot-assisted percutaneous needle placement under fluoroscopy guidance

Han

¹

,

Yu

²

,

Hu

³

et al. 2019

Computer Assisted Surgery

View full text Add to dashboard Cite

Minimally invasive procedures are rapidly growing in popularity thanks to advancements in medical robots, visual navigation and space registration techniques. This paper presents a precise and efficient targeting method for robot-assisted percutaneous needle placement under Carm fluoroscopy. In this method, a special end-effector was constructed to perform fluoroscopy calibration and robot to image-space registration simultaneously. In addition, formulations were given to compute the movement of robot targeting and evaluate targeting accuracy using only one X-ray image. With these techniques, radiation exposure and operation time were reduced significantly compared to other commonly used methods. A pre-clinical experiment showed that the maximum angle error was 0.94 and the maximum position error of a target located 80mm below the end-effector was 1.31mm. And evaluation of the system in a robot-assisted pedicle screws placement surgery has justified the accuracy and reliability of proposed method in clinical applications.

show abstract

Control Method of Surgical Instrument Guidance System Using Line Laser

Park¹,

Park²,

Joung³

2018

jkiit

0

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Method for C-arm Based Guide Needle Insertion Assistant System for Endoscopic Disc Surgery

Cited by 3 publications

References 3 publications

A targeting method for robot-assisted percutaneous needle placement under fluoroscopy guidance

A targeting method for robot-assisted percutaneous needle placement under fluoroscopy guidance

A targeting method for robot-assisted percutaneous needle placement under fluoroscopy guidance

Control Method of Surgical Instrument Guidance System Using Line Laser

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