A stereo-fluoroscopic image-guided robotic biopsy scheme

Author

Shi, Minyan ; Liu, Hong ; Tao, Gang

Author_Institution

Lockheed Martin Global Commun., Clarksburg, MD, USA

Volume

10

Issue

3

fYear

2002

fDate

5/1/2002 12:00:00 AM

Firstpage

309

Lastpage

317

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;

fLanguage

English

Journal_Title

Control Systems Technology, IEEE Transactions on

Publisher

ieee

ISSN

1063-6536

Type

jour

DOI

10.1109/87.998010

Filename

998010