Title :
Validation of an image-guided robot system for measurement, biopsy and injection in rodents
Author :
Li, J.C. ; Iordachita, I. ; Balogh, E. ; Fichtinger, G. ; Kazanzides, P.
Author_Institution :
Johns Hopkins Univ., Baltimore, MD, USA
Abstract :
We developed an image-guided robot system to achieve highly accurate placement of thin needles and probes into in-vivo rodent tumor tissue in a predefined pattern of about 1 mm granularity that is specified on a preoperative image. This development is part of a collaborative project between Johns Hopkins University (JHU) and Memorial Sloan-Kettering Cancer Center (MSKCC). This paper presents a design update and validation results for the robot system that we constructed and delivered to MSKCC.
Keywords :
biomedical imaging; cancer; medical robotics; tumours; Johns Hopkins University; Memorial Sloan-Kettering Cancer Center; biomedical measurement; biopsy; image-guided robot system; in-vivo rodent tumor tissue; preoperative image; thin needle placement; Biopsy; Cancer; Needles; Position measurement; Positron emission tomography; Probes; Robot kinematics; Robotics and automation; Rodents; System testing;
Conference_Titel :
Bioengineering Conference, 2005. Proceedings of the IEEE 31st Annual Northeast
Print_ISBN :
0-7803-9105-5
Electronic_ISBN :
0-7803-9106-3
DOI :
10.1109/NEBC.2005.1431959
