Registration and motion compensation of a needle placement robot for CT-guided spinal procedures

Sheng Xu, Kevin Cleary, Dan Stoianovici, Gabor Fichtinger

Research output: Contribution to journalConference articlepeer-review


Computed tomography (CT) guided needle placement is an established practice in the medical field. The efficacy of these procedures is related to the accuracy of needle placement. Current free-hand techniques have limitations in accuracy, which is often affected by the patient motion. In response to these problems and as a testbed for future developments, we propose a robotically assisted needle placement system consisting of a mobile CT scanner, a needle insertion robot, and an optical localizer. This paper presents the overall system concept and concentrates on the system registration and compensation of the patient motion. Accuracy results using an abdominal phantom are also presented.

Original languageEnglish (US)
Article number72
Pages (from-to)661-669
Number of pages9
JournalProgress in Biomedical Optics and Imaging - Proceedings of SPIE
Issue numberII
StatePublished - 2005
EventMedical Imaging 2005 - Visualization, Image-Guided Procedures, and Display - San Diego, CA, United States
Duration: Feb 13 2005Feb 15 2005


  • Image guidance
  • Medical imaging
  • Medical robotics
  • Needle placement
  • Registration
  • Tracking

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Biomaterials
  • Atomic and Molecular Physics, and Optics
  • Radiology Nuclear Medicine and imaging


Dive into the research topics of 'Registration and motion compensation of a needle placement robot for CT-guided spinal procedures'. Together they form a unique fingerprint.

Cite this