C03888: A Fluoro-servoing Method For Robotic Targetting of Surgical InstrumentationNovelty:
A simple and precise robot targeting method for controlling surgical needle orientation in percutaneous procedures based on radiological feedback.
Value Proposition:
Most image-guided procedures such as percutaneous needle access, radio and ultrasonic ablation require targeting of a specific instrument/probe at an organ location. Manual fluoroscopy-guided interventions are normally based on trial and error requiring considerable surgical skill and operative training. This invention represents a simple solution by introducing automatic targeting using the most common type of imager available in the operating room. The method is also able to achieve accurate needle placement without precise camera/imager calibration thus bypassing complex robot-image registration algorithms. Additional advantages of this invention include:
• Increased accuracy, simplicity and repeatability compared to manual image-guided procedures
• Reduction in time and radiation doses during surgery
• Potential to reduce required level of surgical experience and variability among surgeons in performing these types of procedures
Technical Details:
Johns Hopkins researchers have developed a computer-controlled image-guided technique for automated targeting under portable X-ray fluoroscopy. The system comprises of the PAKY-RCM robot to hold and position an instrument, a portable C-arm fluoroscope as an imager, and a PC control unit to connect the robot and the imager. The control unit receives imaging data about the target and instrument being used from the fluoroscope and then controls the robot to properly orient the instrument for insertion based on the imaging data. This method is called flouro-servoing and is done under continuous imaging in two arbitrary image views acquired at dissimilar C-arm orientations for 3-D targeting by the robot.
Looking for Partners:
To develop and commercialize the technology as a medical device for surgical instrument targeting in percutaneous procedures.
Stage of Development:
Clinical Trial
Data Availability:
Prototype
Publications/Associated Cases:
Medical Image Computing and Computer-Assisted Intervention MICCAI 2000
Lecture Notes in Computer Science Volume 1935, 2000, pp 988-998
