Biomedical Paper

CT-integrated robot for interventional procedures: Preliminary experiment and computer–human interfaces

  1. Jeff Yanof Ph.D.†,*,
  2. John Haaga M.D.,
  3. Paul Klahr M.S.,
  4. Chris Bauer M.S.,
  5. Dean Nakamoto M.D.,
  6. Ashutosh Chaturvedi B.S.E.,
  7. Ronda Bruce RT (R)

Article first published online: 4 APR 2002

DOI: 10.1002/igs.10022

Issue

Computer Aided Surgery

Computer Aided Surgery

Special Issue: Medical Robotics

Volume 6, Issue 6, pages 352–359, 2001

Additional Information

How to Cite

Yanof, J., Haaga, J., Klahr, P., Bauer, C., Nakamoto, D., Chaturvedi, A. and Bruce, R. (2001), CT-integrated robot for interventional procedures: Preliminary experiment and computer–human interfaces. Computer Aided Surgery, 6: 352–359. doi: 10.1002/igs.10022

Author Information

  1. Philips Medical Systems, Highland Heights, Ohio (J.Y., P.K., C.B., R.B.), and University Hospital Health Systems (J.H., D.M.) and Case Western Reserve University (A.C.), Cleveland, Ohio

  1. †

    Telephone: 440-483-2481; Fax: 440-483- 7098

*Philips Medical Systems (Cleveland), Inc., Advanced Clinical Solutions Group, 595 Miner Road, Highland Heights, OH 44143

Publication History

  1. Issue published online: 4 APR 2002
  2. Article first published online: 4 APR 2002

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Keywords:

  • robot-assisted;
  • X-ray computed tomography;
  • interventional radiology;
  • frameless stereotaxis;
  • computer–human interface;
  • minimally invasive surgery;
  • virtual reality;
  • medical robotics

Abstract

Pre-operative planning and intra-operative computer interfaces for minimally invasive interventions were investigated with an active robot integrated with a CT scanner. To test the robotic system, a biopsy study was performed using a pig. For pre-operative planning, a virtual needle was superimposed on axial slices and multiplanar reformatted views in correlation with the interventional field. The path of the virtual needle was sent to the robot's controller, and the robot's needle gripper moved into a position congruent with the planned path. Intra-operative controls were then used to drive the needle while keeping the interventionalist's hands out of the direct X-ray beam during CT fluoroscopy. After needle insertion, the imaged and virtual needles were shown to be sufficiently congruent. Comp Aid Surg 6:352–359 (2001). © 2002 Wiley-Liss, Inc.

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