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International Conference on Robotics in Alpe-Adria Danube Region

RAAD 2016: Advances in Robot Design and Intelligent Control pp 515–522Cite as

Planning of Needle Insertion for Robotic-Assisted Prostate Biopsy in Augmented Reality Using RGB-D Camera

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Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 540))

Abstract

Augmented Reality (AR) technologies are increasingly used in many areas. There is a vast research activity within the field of AR in medical applications. In this paper, an AR system using RGB-D camera is proposed to facilitate trajectory planning for a prostate biopsy robot. The advantage of the developed AR environment consists in the possibility to generate needle trajectories using a 3D virtual model of a specific patient directly in the robot workspace. It was shown from a test case that the generated biopsy needle trajectory reaches successfully the target area.

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Acknowledgment

This paper was realized within the Partnership Programme in priority domains - PN-II, which runs with the financial support of MEN-UEFISCDI, Project no. 247/2014.

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Authors and Affiliations

  1. CESTER, Technical University of Cluj-Napoca, 400114, Cluj-Napoca, Romania

    Bogdan Gherman & Doina Pîsla

  2. Transilvania University of Braşov, 29 Eroilor Blvd., 500036, Braşov, Romania

    Florin Gîrbacia, Răzvan Boboc & Teodora Gîrbacia

Authors
  1. Florin Gîrbacia
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  2. Răzvan Boboc
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  3. Bogdan Gherman
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  4. Teodora Gîrbacia
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  5. Doina Pîsla
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Corresponding author

Correspondence to Florin Gîrbacia .

Editor information

Editors and Affiliations

  1. Robotics Laboratory, Mihajlo Pupin Institute, Belgrade, Serbia

    Aleksandar Rodić

  2. Faculty of Automatic Control and Computers, University Politehnica of Bucharest, Bucharest, Romania

    Theodor Borangiu

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Gîrbacia, F., Boboc, R., Gherman, B., Gîrbacia, T., Pîsla, D. (2017). Planning of Needle Insertion for Robotic-Assisted Prostate Biopsy in Augmented Reality Using RGB-D Camera. In: Rodić, A., Borangiu, T. (eds) Advances in Robot Design and Intelligent Control. RAAD 2016. Advances in Intelligent Systems and Computing, vol 540. Springer, Cham. https://doi.org/10.1007/978-3-319-49058-8_56

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  • DOI: https://doi.org/10.1007/978-3-319-49058-8_56

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-49057-1

  • Online ISBN: 978-3-319-49058-8

  • eBook Packages: EngineeringEngineering (R0)

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