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We present an automatic needle targeting method for fluoroscopy- guided percutaneous access procedures. The approach is derived from the man- ual needle superimposition technique making it intuitive and familiar to sur- geons and radiologists. The proposed algorithm is insensitive to image distor- tion and does not require any C-Arm calibration or initial pose estimation. Nee- dle alignment is performed using a direct adaptive visual servoing approach; once the desired orientation is achieved, insertion is performed using under joy- stick control. The algorithm was implemented and tested using our AcuBot ro- bot, purposely built for percutaneous image guided interventions. A series of tests were performed showing that the proposed approach increases accuracy and reduces radiation exposure.

Automatic Targeting Method and Accuracy Study in Robot Assisted Needle Procedures