Automatic planning of needle placement for robot-assisted percutaneous procedures.
Journal:
International journal of computer assisted radiology and surgery
Published Date:
Apr 18, 2018
Abstract
PURPOSE: Percutaneous procedures allow interventional radiologists to perform diagnoses or treatments guided by an imaging device, typically a computed tomography (CT) scanner with a high spatial resolution. To reduce exposure to radiations and improve accuracy, robotic assistance to needle insertion is considered in the case of X-ray guided procedures. We introduce a planning algorithm that computes a needle placement compatible with both the patient's anatomy and the accessibility of the robot within the scanner gantry.