A targeting method for robot-assisted percutaneous needle placement under fluoroscopy guidance. (1st October 2019)

• Record Type: Journal Article
• Authors: Han, Zhonghao; Yu, Keyi; Hu, Lei; Li, Weishi; Yang, Huilin; Gan, Minfeng; Guo, Na; Yang, Biao; Liu, Hongsheng; Wang, Yuhan
• Is Part Of: Computer assisted surgery. Volume 24(2019)Supplement 1
• Page Start: 44
• Page End: 52
• Publication Date: 2019-10-01
• Subjects: Fluoroscopy Guidance -- Robot-Assisted Surgery -- Space Registration -- C-arm Calibration; Computer-assisted surgery -- Periodicals
• DOI: 10.1080/24699322.2018.1557907
• Languages: English
• ISSNs: 2469-9322

Abstract

Abstract: 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 C-arm 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.