Title :
A stereo-fluoroscopic image-guided robotic biopsy scheme
Author :
Shi, Minyan ; Liu, Hong ; Tao, Gang
Author_Institution :
Lockheed Martin Global Commun., Clarksburg, MD, USA
fDate :
5/1/2002 12:00:00 AM
Abstract :
This paper investigates some key issues in a simulation of a stereo-fluoroscopic image-guided robotic breast biopsy system: real-time 3D path planning and robot trajectory control with considerations of safety, tissue impedance, needle flexibility, and imaging time delay. It presents a robot control scheme which allows automatic and continuous adjustments on the needle inserting path according to a real-time 3D position feedback, and is applicable to soft tissue and organ biopsy, with the expected advantages of increased accuracy, short completion time, and minimal invasiveness to the patient. Simulation results are used to illustrate the effectiveness of the developed scheme
Keywords :
diagnostic radiography; feedback; medical image processing; medical robotics; radiography; real-time systems; safety; stereo image processing; surgery; 3D path planning; imaging time delay; mammography; minimal patient invasiveness; needle flexibility; needle insertion path; organ biopsy; position feedback; real-time three-dimensional path planning; robot trajectory control; safety; short completion time; soft tissue; stereo-fluoroscopic image-guided robotic breast biopsy system; tissue impedance; Automatic control; Breast biopsy; Impedance; Needles; Path planning; Real time systems; Robot control; Robotics and automation; Safety; Trajectory;
Journal_Title :
Control Systems Technology, IEEE Transactions on
