A Method for Fluoroscopy Based Navigation System to Assist Needle Insertion Concerning Reduced Radiation Exposure for Endoscopic Disc Surgery

Title
A Method for Fluoroscopy Based Navigation System to Assist Needle Insertion Concerning Reduced Radiation Exposure for Endoscopic Disc Surgery
Authors
박진곤윤현민윤시엽말린다 바니아이득희
Keywords
Computer assisted surgery system; Endoscopic disc surgery; Surgical planning; Image guided navigation; Camera calibration; Hand-eye calibration; C-arm/robot registration
Issue Date
2015-10
Publisher
ICCAS(International Conference on Control, Automation and System)
Abstract
Endoscopic disc surgery requires a process of inserting a guide-needle to the target lumbar disc. And the insertion path is manually planned by drawing lines on the patient’s skin while monitoring the fluoroscopic view of the lumbar. Such operative procedure inevitably exposes both surgeon and patient to the fluoroscopic radiation emitted from c-arm for a long time. To reduce the radiation exposure time, this study proposes a computer assisted operative planning method implemented by using computer vision and computer graphics theory. This method calculates the 3-dimensional path line of guide-needle from multiple triangular planes. Triangular planes can be obtained by analyzing 2-dimensional images of patient’s disc in 3 different angles from rotationally movable c-arm. Additionally, a method of guiding robot’s control based on the 3-dimensional needle path was developed by implementing the Hand-eye (end-effector and camera) calibration. Hand-eye calibration method calculates the geometric transformation matrix between the c-arm coordinate system and base of guidance robot coordinate system. The proposed system was then tested for its accuracy.
URI
http://pubs.kist.re.kr/handle/201004/50568
ISSN
20937121
Appears in Collections:
KIST Publication > Conference Paper
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