A robotic needle-positioning and guidance system for CT-guided puncture:<i>Ex vivo</i>results

Kettenbach, Joachim; Kara, Levent; Toporek, Grzegorz; Fuerst, M; Kronreif, Gernot

doi:10.3109/13645706.2014.928641

Cited by 51 publications

(40 citation statements)

References 28 publications

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“…In the experiments, we additionally determine the maximum registration error due to cardiac motion, between target lesions of a 2D fluoroscopic image and those of 2D DRR of a registered 3D CT. For this, the distances between the cardiac wall and target lesions are set to more than 10 mm throughout all datasets. The determined error is found to be about 4 mm at maximum, which is considered to be acceptable for clinical applications . If a target lesion locates near the cardiac wall, however, the error may be increased to unacceptable values due to cardiac motion.…”

Section: Discussionmentioning

confidence: 88%

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Real‐time respiratory phase matching between 2D fluoroscopic images and 3D CT images for precise percutaneous lung biopsy

et al. 2017

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We propose a real-time matching algorithm to compensate for respiratory motion between a 2D fluoroscopic image and 3D CT images of the lung, regardless of cardiac motion, based on a newly improved matching measure. The proposed algorithm can improve the accuracy of a guiding system for the PLB by providing 3D images precisely registered to 2D fluoroscopic images in real-time, without time-consuming respiratory-gated or cardiac-gated CT images.

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Section: Discussionmentioning

confidence: 88%

“…The proposed measure helps to match the respiratory phases of the two images regardless of cardiac motion. Since displacements due to cardiac motion are ignored in the respiratory phase matching, a small targeting error that is considered acceptable in medical practice may remain.…”

Section: Introductionmentioning

confidence: 99%

Real‐time respiratory phase matching between 2D fluoroscopic images and 3D CT images for precise percutaneous lung biopsy

et al. 2017

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“…From the above literature, it is seen that the assisted surgical robot has received significant attention from scholars, especially in the field of robot-assisted minimally invasive surgery. 14 In the CT-guided robot-assisted clinical puncture surgery, the current prevalent lesion positioning method is to automatically or semiautomatically calibrate the coordinate transformation relationship between the CT system and the robot system through a commercial high-precision frameless stereo positioning system, such as an electromagnetic, optical positioning system, 15,16 so as to realize the lesion positioning in robot coordinate system. However, these commercial positioning systems are expensive and have special requirements for the operating theater.…”

Section: Introductionmentioning

confidence: 99%

Lesion positioning method of a CT‐guided surgical robotic system for minimally invasive percutaneous lung

Zhang

Wang

et al. 2020

Robotics Computer Surgery

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Background Robot‐assisted puncture has gradually attracted more attention and practical clinical application. The lesion positioning and the needle positioning are the basis to ensure the accuracy of puncture and the key techniques in insertion operation. Methods A lesion positioning method is established which is realized only by the robot‐CT system without using external positioning system, and an omnidirectional needle positioning method is also developed and realized by using VRCM, in order to make the puncture needle always keep pointing to the lesion point. A CT‐guided surgical robotic system used for minimally invasive percutaneous lung is designed and the physical prototype is manufactured, to perform in‐vitro experiments, thereby to validate the effectiveness of the lesion positioning method and the feasibility of omnidirectional needle positioning method. Results The accuracy of established lesion positioning method based on three non‐collinear markers is within 3 mm, which is similar to that of the least squares method based on the five non‐coplanar markers, but the positioning efficiency can be improved by about 40%, and the non‐collinearity of markers is easier to be satisfied than non‐coplanarity in practical applications. The average calculation error of the established positioning method is 0.997 mm. Moreover, the omnidirectional positioning of the puncture needle under the designed surgical robot is feasible. Conclusions The designed surgical robot has good control accuracy and it can satisfy the requirements for use. The established lesion positioning method can provide a good precision basis for robot‐assisted puncture surgery. The suitable insertion point and insertion posture can be determined by the developed omnidirectional needle positioning method. This study can provide theoretical reference for further study of path planning or autonomous positioning.

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“…Incorrect needle positioning may be reduced by improving the preoperative needle-target alignment (3), and by using larger diameter needles that deflect less in tissue. Although these techniques help for pre-planning, they do not facilitate path corrections.…”

Section: Introductionmentioning

confidence: 99%

Endpoint Accuracy in Manual Control of a Steerable Needle

Berg

Dankelman

Dobbelsteen

2017

Journal of Vascular and Interventional Radiology

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A robotic needle-positioning and guidance system for CT-guided puncture:Ex vivoresults

Abstract: Automatic registration and accurate needle placement close to small targets was demonstrated. Study settings and torso phantom were very close to the clinical reality.

Cited by 51 publications

References 28 publications

Real‐time respiratory phase matching between 2D fluoroscopic images and 3D CT images for precise percutaneous lung biopsy

Real‐time respiratory phase matching between 2D fluoroscopic images and 3D CT images for precise percutaneous lung biopsy

Lesion positioning method of a CT‐guided surgical robotic system for minimally invasive percutaneous lung

Endpoint Accuracy in Manual Control of a Steerable Needle

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