DocumentCode :
1974784
Title :
Software design of transperineal prostate needle biopsy robot
Author :
Xiao, Di ; Phee, Louis ; Yuen, John ; Chan, Chee Fatt ; Liu, Feng ; Ng, Wan Sing ; Ho, Henry ; Thng, Choon Hua ; Tan, Puay Hoon ; Cheng, Christopher
Author_Institution :
Dept. of Surg., Nat. Univ. Hosp., Singapore, Singapore
fYear :
2005
fDate :
28-31 Aug. 2005
Firstpage :
13
Abstract :
This paper focuses on introducing the software design of a robotic system for accurate and consistent insertion of a percutaneous biopsy needle into the prostate guided by transrectal ultrasound images. A set of software modules in the main computer system is designed to guide the urologist to control the biopsy robot and biopsy process. This system functionally undertakes the control of image acquisition, interaction with the urologist for prostate boundary delineation, puncture point planning and biopsy point definition on 2D image (ultrasound) slices. 3D visualization of the prostate surface, needle, biopsy point and needle trajectory is also performed by the software. The system calculates the required parameters of the needle´s trajectory and guides the urologist in maneuvering the robot to perform the biopsy. System performance and experimental results are presented at the end.
Keywords :
biomedical ultrasonics; computerised control; endoscopes; medical image processing; medical robotics; robot programming; software engineering; surgery; 2D image; 3D visualization; biopsy point definition; image acquisition; needle trajectory; prostate boundary delineation; prostate surface; puncture point planning; robot maneuver; robotic system; software design; software modules; transperineal prostate needle biopsy robot; transrectal ultrasound image; urologist; Biopsy; Control systems; Needles; Robot control; Software design; Software performance; System performance; Trajectory; Ultrasonic imaging; Visualization;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Applications, 2005. CCA 2005. Proceedings of 2005 IEEE Conference on
Print_ISBN :
0-7803-9354-6
Type :
conf
DOI :
10.1109/CCA.2005.1507093
Filename :
1507093
Link To Document :
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