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Proceedings Paper

Development and evaluation of a new image-based user interface for robot-assisted needle placements with the Robopsy system
Author(s): Alexander Seitel; Conor J. Walsh; Nevan C. Hanumara; Jo-Anne Shepard; Alexander H. Slocum; Hans-Peter Meinzer; Rajiv Gupta; Lena Maier-Hein
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Paper Abstract

The main challenges of Computed Tomography (CT)-guided organ puncture are the mental registration of the medical imaging data with the patient anatomy, required when planning a trajectory, and the subsequent precise insertion of a needle along it. An interventional telerobotic system, such as Robopsy, enables precise needle insertion, however, in order to minimize procedure time and number of CT scans, this system should be driven by an interface that is directly integrated with the medical imaging data. In this study we have developed and evaluated such an interface that provides the user with a point-and-click functionality for specifying the desired trajectory, segmenting the needle and automatically calculating the insertion parameters (angles and depth). In order to highlight the advantages of such an interface, we compared robotic-assisted targeting using the old interface (non-image-based) where the path planning was performed on the CT console and transferred manually to the interface with the targeting procedure using the new interface (image-based). We found that the mean procedure time (n=5) was 22±5 min (non-image-based) and 19±1 min (image-based) with a mean number of CT scans of 6±1 (non-image-based) and 5±1 (image-based). Although the targeting experiments were performed in gelatin with homogenous properties our results indicate that an image-based interface can reduce procedure time as well as number of CT scans for percutaneous needle biopsies.

Paper Details

Date Published: 13 March 2009
PDF: 9 pages
Proc. SPIE 7261, Medical Imaging 2009: Visualization, Image-Guided Procedures, and Modeling, 72610X (13 March 2009); doi: 10.1117/12.811507
Show Author Affiliations
Alexander Seitel, German Cancer Research Ctr. (Germany)
Conor J. Walsh, Massachusetts Institute of Technology (United States)
Nevan C. Hanumara, Massachusetts Institute of Technology (United States)
Jo-Anne Shepard, Massachusetts General Hospital (United States)
Alexander H. Slocum, Massachusetts Institute of Technology (United States)
Hans-Peter Meinzer, German Cancer Research Ctr. (Germany)
Rajiv Gupta, Massachusetts General Hospital (United States)
Lena Maier-Hein, 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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