Real-time CT Fluoroscopy: Evolution of an Interventional Tool

Daly, Barry; Templeton, Philip A.

doi:10.1148/radiology.211.2.r99ma51309

Cited by 170 publications

(66 citation statements)

References 12 publications

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“…Modalities commonly employed include fluoroscopy [29], conventional CT [30] and helical CT [30], with the last becoming more widely used. CT-fluoroscopy, which was developed more recently than the other modalities and used in the present study, has simplified the process and decreased the time required for CT-guided needle biopsies [24]. Regarding direct exposure of the physician's hand to radiation, which is a problem with CT-fluoroscopy-guided procedures, the use of a needle holder, such as the "I-I device" that was used in the present study, can largely resolve this problem.…”

Section: Discussionmentioning

confidence: 99%

“…Alternatively, an assistant would help by adjusting the controls. An intermittent real-time CT-fluoroscopic technique [24] was preferred while the biopsy needle was advanced using the I-I TM device (Hakko, Tokyo, Japan) that was developed to assist in precisely advancing the needle while avoiding irradiation to the operator's hands [25,26]. This technique was performed in a stepwise manner with quick application of CT-fluoroscopy to confirm the path of the needle.…”

Section: Biopsy Proceduresmentioning

confidence: 99%

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Diagnostic performance of percutaneous lung biopsy using automated biopsy needles under CT-fluoroscopic guidance for ground-glass opacity lesions

Yamagami

Yoshimatsu²,

Miura³

et al. 2013

BJR

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Objective: The goal of our study was to evaluate the diagnostic performance of percutaneous lung biopsy under CT-fluoroscopic guidance for ground-glass opacity (GGO) lesions.Methods: 85 percutaneous needle lung biopsies were performed in 73 patients. Specimens were obtained by core biopsy utilising an automated cutting needle and were evaluated histologically. Final diagnosis was confirmed by independent surgical pathology, independent culture results or clinical follow-up.Results: Rates of adequate specimens obtained and of precise diagnosis by needle biopsy were 92.9% (79/85) and 90.6% (77/ 85) of evaluated lung lesions, respectively. Precise diagnosis was achieved in 87.1% (27/ 31) of lesions #10 mm in diameter, 90.0% (36/40) of lesions .10 mm to #20 mm and 100.0% (14/14) of lesions .20 mm. Precision in diagnosing GGO lesions according to the GGO component was 73.9% (17/23) for pure GGO lesions and 96.8% (60/62) for part-solid GGO lesions. Obtaining a precise diagnosis did not differ significantly according to the lesion size (p50.3840), but differences were significant according to the GGO component (p50.0047). Malignancy was accurately diagnosed in 35 of 36 malignant lesions for which surgery was later performed. The

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Section: Discussionmentioning

confidence: 99%

Section: Biopsy Proceduresmentioning

confidence: 99%

Diagnostic performance of percutaneous lung biopsy using automated biopsy needles under CT-fluoroscopic guidance for ground-glass opacity lesions

Yamagami

Yoshimatsu²,

Miura³

et al. 2013

BJR

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“…During this period, algorithms were also developed to establish CT-fluoroscopy, which introduced a real-time feature to this modality (Daly & Templeton, 1999). Accordingly, CT-fluoroscopy has become a powerful imaging tool (Meleka, 2005).…”

Section: Triplanar Imaging In Pain Medicine Procedures: Conventional-mentioning

confidence: 99%

Applied Radiologic Science in the Treatment of Pain: Interventional Pain Medicine

Wininger¹

2012

Pain Management - Current Issues and Opinions

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“…This robot could be controlled via joystick or -as described in the next section -automatically using visual servoing, an image based control approach. Best performance will be achieved by using CT fluoroscopy which allows real-time imaging and is increasingly used in interventional procedures [13][14] [15]. Our robotic tool consists of a very compact parallel-gear that allows needle rotation around two perpendicular axes.…”

Section: The Robot's Designmentioning

confidence: 99%

A New Robotic System for Visually Controlled Percutaneous Interventions under CT Fluoroscopy

Loser

Navab

2000

Medical Image Computing and Computer-Assisted Intervention – MICCAI 2000

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Abstract. Minimally invasive CT-guided interventions are an attractive option for diagnostic biopsy and localized therapy delivery. This paper describes the concept of a new prototypical robotic tool, developed in a preliminary study for radiological image-guided interventions. Its very compact and light design is optimized for usage inside a CT-gantry, where a bulky robot is inappropriate, especially together with a stout patient and long stiff instruments like biopsy needles or a trocar. Additionally, a new automatic image-guided control based on "visual servoing" is presented for automatic and uncalibrated needle placement under CT-fluoroscopy. Visual servoing is well established in the field of industrial robotics, when using CCD cameras. We adapted this approach and optimized it for CT-fluoroscopy-guided interventions. It is a simple and accurate method which requires no prior calibration or registration. Therefore, no additional sensors (infrared, laser, ultrasound, etc), no stereotactic frame and no additional calibration phantom is needed. Our technique provides accurate 3D alignment of the needle with respect to an anatomic target. A first evaluation of the robot using CT fluoroscopy showed an accuracy in needle placement of ±0.4 mm (principle accuracy) and ±1.6 mm in a small pig study. These first promising results present our method as a possible alternative to other needle placement techniques requiring cumbersome and time consuming calibration procedures.

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Real-time CT Fluoroscopy: Evolution of an Interventional Tool

Cited by 170 publications

References 12 publications

Diagnostic performance of percutaneous lung biopsy using automated biopsy needles under CT-fluoroscopic guidance for ground-glass opacity lesions

Diagnostic performance of percutaneous lung biopsy using automated biopsy needles under CT-fluoroscopic guidance for ground-glass opacity lesions

Applied Radiologic Science in the Treatment of Pain: Interventional Pain Medicine

A New Robotic System for Visually Controlled Percutaneous Interventions under CT Fluoroscopy

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