CT-directed robotic biopsy testbed: Motivation and concept

K. Cleary; D. Stoianovici; N. Glossop; Kevin Gary; S. Onda; R. Cody; D. Lindisch; A. Stanimir; D. Mazilu; A. Patriciu; V. Watson; E. Levy

doi:10.1117/12.428059

CT-directed robotic biopsy testbed: Motivation and concept

K. Cleary, D. Stoianovici, N. Glossop, Kevin Gary, S. Onda, R. Cody, D. Lindisch, A. Stanimir, D. Mazilu, A. Patriciu, V. Watson, E. Levy

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

8 Scopus citations

Abstract

As a demonstration platform, we are developing a robotic biopsy testbed incorporating a mobile CT scanner, a small "needle driver" robot, and an optical localizer. This testbed will be used to compare robotically assisted biopsy to the current manual technique, and allow us to investigate software architectures for integrating multiple medical devices. This is a collaboration between engineers and physicians from three universities and a commercial vendor. In this paper we describe the CT-directed biopsy technique, review some other biopsy systems including passive and semi-autonomous devices, describe our testbed components, and present our software architecture. This testbed is a first step in developing the image-guided, robotically assisted, physician directed, biopsy systems of the future.

Original language	English (US)
Title of host publication	Proceedings of SPIE - The International Society for Optical Engineering
Editors	S.K. Mun
Pages	231-236
Number of pages	6
Volume	4319
DOIs	https://doi.org/10.1117/12.428059
State	Published - 2001
Externally published	Yes
Event	Medical Imaging 2001: Visualization, Display, and Image-Guided Procedures - San Diego, CA, United States Duration: Feb 18 2001 → Feb 20 2001

Other

Other	Medical Imaging 2001: Visualization, Display, and Image-Guided Procedures
Country/Territory	United States
City	San Diego, CA
Period	2/18/01 → 2/20/01

Keywords

Biopsy
Medical robotics
Software architecture

ASJC Scopus subject areas

Electrical and Electronic Engineering
Condensed Matter Physics

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10.1117/12.428059

Cite this

Cleary, K, Stoianovici, D, Glossop, N, Gary, K, Onda, S, Cody, R, Lindisch, D, Stanimir, A, Mazilu, D, Patriciu, A, Watson, V & Levy, E 2001, CT-directed robotic biopsy testbed: Motivation and concept. in SK Mun (ed.), Proceedings of SPIE - The International Society for Optical Engineering. vol. 4319, pp. 231-236, Medical Imaging 2001: Visualization, Display, and Image-Guided Procedures, San Diego, CA, United States, 2/18/01. https://doi.org/10.1117/12.428059

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AU - Cleary, K.

AU - Stoianovici, D.

AU - Glossop, N.

AU - Gary, Kevin

AU - Onda, S.

AU - Cody, R.

AU - Lindisch, D.

AU - Stanimir, A.

AU - Mazilu, D.

AU - Patriciu, A.

AU - Watson, V.

AU - Levy, E.

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AB - As a demonstration platform, we are developing a robotic biopsy testbed incorporating a mobile CT scanner, a small "needle driver" robot, and an optical localizer. This testbed will be used to compare robotically assisted biopsy to the current manual technique, and allow us to investigate software architectures for integrating multiple medical devices. This is a collaboration between engineers and physicians from three universities and a commercial vendor. In this paper we describe the CT-directed biopsy technique, review some other biopsy systems including passive and semi-autonomous devices, describe our testbed components, and present our software architecture. This testbed is a first step in developing the image-guided, robotically assisted, physician directed, biopsy systems of the future.

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CT-directed robotic biopsy testbed: Motivation and concept

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Keywords

ASJC Scopus subject areas

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