Automatic planning of needle placement for robot-assisted percutaneous procedures.
Fiche publication
Date publication
septembre 2018
Journal
International journal of computer assisted radiology and surgery
Auteurs
Membres identifiés du Cancéropôle Est :
Pr BAYLE Bernard
Tous les auteurs :
Belbachir E, Golkar E, Bayle B, Essert C
Lien Pubmed
Résumé
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.
Mots clés
Algorithms, Clinical Decision-Making, Humans, Imaging, Three-Dimensional, methods, Male, Needles, Radiography, Interventional, methods, Retrospective Studies, Robotics, instrumentation, Tomography, X-Ray Computed, methods
Référence
Int J Comput Assist Radiol Surg. 2018 Sep;13(9):1429-1438