Automatic planning of needle placement for robot-assisted percutaneous procedures | Zendy

Esia Belbachir | Zendy; Ehsan Golkar | Zendy; Bernard Bayle | Zendy; Caroline Essert | Zendy

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Automatic planning of needle placement for robot-assisted percutaneous procedures

Author(s) -

Esia Belbachir,

Ehsan Golkar,

Bernard Bayle,

Caroline Essert

Publication year - 2018

Publication title -

international journal of computer assisted radiology and surgery

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.701

H-Index - 49

eISSN - 1861-6429

pISSN - 1861-6410

DOI - 10.1007/s11548-018-1754-2

Subject(s) - percutaneous , computer science , robot , surgical planning , medicine , artificial intelligence , surgery

Percutaneous procedures allow interventional radiologists to perform diagnoses or treatments guided by an imaging device, typically a computed tomography (CT) scanner with a high spatial resolution. To reduce exposure to radiations and improve accuracy, robotic assistance to needle insertion is considered in the case of X-ray guided procedures. We introduce a planning algorithm that computes a needle placement compatible with both the patient's anatomy and the accessibility of the robot within the scanner gantry.

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