Abstract
Minimally invasive image guided interventions are an attractive option for localized therapy delivery and diagnostic biopsy. We have developed a method for CT guided needle placement, based upon the Brown-Roberts-Wells frame, which requires no immobilization or fiducial implantation. A localization module, placed on a needle holding robotic end effector, allows for localization of the effector in the image space using a single CT image. In a theoretical analysis, we show that this registration method has attractive sensitivity and error attenuation properties. Experimentally, the average error in needle tip location over 63 trials was 470μm; 95% of the errors were below 1.0 mm. This method is a fast, accurate, and easily implemented registration method for cross sectional image guided stereotaxis.
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Susil, R.C., Anderson, J.H., Taylor, R.H. (1999). A Single Image Registration Method for CT Guided Interventions. In: Taylor, C., Colchester, A. (eds) Medical Image Computing and Computer-Assisted Intervention – MICCAI’99. MICCAI 1999. Lecture Notes in Computer Science, vol 1679. Springer, Berlin, Heidelberg. https://doi.org/10.1007/10704282_87
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DOI: https://doi.org/10.1007/10704282_87
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-66503-8
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