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Proceedings Paper

Human vs. robot operator error in a needle-based navigation system for percutaneous liver interventions
Author(s): Lena Maier-Hein; Conor J. Walsh; Alexander Seitel; Nevan C. Hanumara; Jo-Anne Shepard; A. M. Franz; F. Pianka; Sascha A. Müller; Bruno Schmied; Alexander H. Slocum; Rajiv Gupta; Hans-Peter Meinzer
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Paper Abstract

Computed tomography (CT) guided percutaneous punctures of the liver for cancer diagnosis and therapy (e.g. tumor biopsy, radiofrequency ablation) are well-established procedures in clinical routine. One of the main challenges related to these interventions is the accurate placement of the needle within the lesion. Several navigation concepts have been introduced to compensate for organ shift and deformation in real-time, yet, the operator error remains an important factor influencing the overall accuracy of the developed systems. The aim of this study was to investigate whether the operator error and, thus, the overall insertion error of an existing navigation system could be further reduced by replacing the user with the medical robot Robopsy. For this purpose, we performed navigated needle insertions in a static abdominal phantom as well as in a respiratory liver motion simulator and compared the human operator error with the targeting error performed by the robot. According to the results, the Robopsy driven needle insertion system is able to more accurately align the needle and insert it along its axis compared to a human operator. Integration of the robot into the current navigation system could thus improve targeting accuracy in clinical use.

Paper Details

Date Published: 13 March 2009
PDF: 12 pages
Proc. SPIE 7261, Medical Imaging 2009: Visualization, Image-Guided Procedures, and Modeling, 72610Y (13 March 2009); doi: 10.1117/12.811334
Show Author Affiliations
Lena Maier-Hein, German Cancer Research Ctr. (Germany)
Conor J. Walsh, Massachusetts Institute of Technology (United States)
Alexander Seitel, German Cancer Research Ctr. (Germany)
Nevan C. Hanumara, Massachusetts Institute of Technology (United States)
Jo-Anne Shepard, Massachusetts General Hospital (United States)
A. M. Franz, German Cancer Research Ctr. (Germany)
F. Pianka, Univ. of Heidelberg (Germany)
Sascha A. Müller, Univ. of Heidelberg (Germany)
Bruno Schmied, Univ. of Heidelberg (Germany)
Alexander H. Slocum, Massachusetts Institute of Technology (United States)
Rajiv Gupta, Massachusetts General Hospital (United States)
Hans-Peter Meinzer, German Cancer Research Ctr. (Germany)

Published in SPIE Proceedings Vol. 7261:
Medical Imaging 2009: Visualization, Image-Guided Procedures, and Modeling
Michael I. Miga; Kenneth H. Wong, Editor(s)

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