Automatic entry point planning for robotic post-mortem CT-based needle placement.

Journal: Forensic science, medicine, and pathology
Published Date: Sep 1, 2016

Abstract

INTRODUCTION: Post-mortem computed tomography guided placement of co-axial introducer needles allows for the extraction of tissue and liquid samples for histological and toxicological analyses. Automation of this process can increase the accuracy and speed of the needle placement, thereby making it more feasible for routine examinations. To speed up the planning process and increase safety, we developed an algorithm that calculates an optimal entry point and end-effector orientation for a given target point, while taking constraints such as accessibility or bone collisions into account.

Authors

  • Lars C Ebert
    Department of Forensic Medicine and Imaging, Zurich Institute of Forensic Medicine, University of Zurich, Winterthurerstrasse 190/52, 8057, Zurich, Switzerland. lars.ebert@virtopsy.com.
  • Martin Fürst
    Austrian Center for Medical Innovation and Technology (ACMIT), ACMIT GmbH, Viktor Kaplan Straße 2, 2700, Wiener Neustadt, Austria.
  • Wolfgang Ptacek
    Austrian Center for Medical Innovation and Technology (ACMIT), ACMIT GmbH, Viktor Kaplan Straße 2, 2700, Wiener Neustadt, Austria.
  • Thomas D Ruder
    Department of Forensic Medicine and Imaging, Zurich Institute of Forensic Medicine, University of Zurich, Winterthurerstrasse 190/52, 8057, Zurich, Switzerland.
  • Dominic Gascho
    Department of Forensic Medicine and Imaging, Zurich Institute of Forensic Medicine, University of Zurich, Winterthurerstrasse 190/52, 8057, Zurich, Switzerland.
  • Wolf Schweitzer
    Department of Forensic Medicine and Imaging, Zurich Institute of Forensic Medicine, University of Zurich, Winterthurerstrasse 190/52, 8057, Zurich, Switzerland.
  • Michael J Thali
    Department of Forensic Medicine and Imaging, Zurich Institute of Forensic Medicine, University of Zurich, Winterthurerstrasse 190/52, 8057, Zurich, Switzerland.
  • Patricia M Flach
    Department of Forensic Medicine and Imaging, Zurich Institute of Forensic Medicine, University of Zurich, Winterthurerstrasse 190/52, 8057, Zurich, Switzerland.

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