Method for C-arm Based Guide Needle Insertion Assistant System for Endoscopic Disc Surgery
- Method for C-arm Based Guide Needle Insertion Assistant System for Endoscopic Disc Surgery
- 윤현민; 조현철; 박규식; 신상균; 이득희
- C-arm/robot registration; Endoscopic disc surgery; Hand-eye calibration; Image
- Issue Date
- 한국CAD/CAM학회논문집; Transactions of the society of CAD/CAM engineers.
- VOL 20, NO 3, 263-268
- Due to an increased sitting time in work, lumbar disc disease is one of the most frequent diseases
in modern days, and this occasionally requires surgery for treatment. Endoscopic disc surgery,
one of the common disc surgeries, requires a process of inserting a guide needle to the
target disc for which the insertion path is manually planned by drawing lines on the patient’s
skin while monitoring the fluoroscopic view of the lumbar. Such procedure inevitably exposes
both surgeon and patient to the fluoroscopy radiation emitted from the c-arm for a long time. To
reduce the radiation exposure time, this study proposes a computer assisted method of calculating
the 3D guide needle path by using 2D c-arm images of the disc in 3 different angles. Additionally,
a method of the guide robot control based on the 3D needle path was developed by
implementing the Hand-eye Calibration method to calculate the transformation matrix between
the c-arm and robot base coordinate systems. The proposed system was then tested for its accuracy.
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