Technical Details:
The purpose of this invention is to determine the three-dimensional position and orientation of an effector (a needle, probe, etc.) relative to a subject using single cross sectional images (e.g. from a CT or MRI scanner). A novel method has been developed for image guided effector placement that requires no immobilization of the patient or fiducial implantation. A localization module, integrated with a robotically positioned and controlled end effector, allows for localization of the effector in the image space using a single cross-sectional image.
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This invention has a variety of applications. These include: 1. Percutaneous access to the spine (and other bony structures) 2. Prostate biopsy and therapy delivery 3. Percutaneous liver biopsy 4. Stereotactic brain biopsy and therapy delivery 5. Localized injection of drugs and other therapeutic agents
