CT-directed robotic biopsy testbed: Motivation and concept

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

Research output: Contribution to journal › Article › peer-review

7 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)
Pages (from-to)	231-236
Number of pages	6
Journal	Proceedings of SPIE - The International Society for Optical Engineering
Volume	4319
DOIs	https://doi.org/10.1117/12.428059
State	Published - 2001
Externally published	Yes

Keywords

Biopsy
Medical robotics
Software architecture

ASJC Scopus subject areas

Electronic, Optical and Magnetic Materials
Condensed Matter Physics
Computer Science Applications
Applied Mathematics
Electrical and Electronic Engineering

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10.1117/12.428059

Cite this

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AU - Cleary, K.

AU - Stoianovici, D.

AU - Glossop, N.

AU - Gary, K.

AU - Onda, S.

AU - Cody, R.

AU - Lindisch, D.

AU - Stanimir, A.

AU - Mazilu, D.

AU - Patriciu, A.

AU - Watson, V.

AU - Levy, E.

PY - 2001

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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

Abstract

Keywords

ASJC Scopus subject areas

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