Visual Servoing for Automatic and Uncalibrated Needle Placement for Percutaneous Procedures

Abstract

This paper presents a new approach to image-based guidance of a needle or surgical tool during percutaneous procedures. The method is based on visual servoing. It requires no prior calibration or registration. The technique provides highly precise 3D-alignment of the tool with respect to an anatomic target. By taking advantage of projective geometry and projective invariants, this can be achieved in a fixed number (12) of iterations. In addition the approach estimates the required insertion depth. Experiments include automatic 3D alignment and insertion of a needle held by a medical robot into a pig kidney under X-ray fluoroscopy.

DOI: 10.1109/CVPR.2000.854838

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@inproceedings{Navab2000VisualSF, title={Visual Servoing for Automatic and Uncalibrated Needle Placement for Percutaneous Procedures}, author={Nassir Navab and Benedicte Bascle and Michael H. Loser and Bernhard Geiger and Russell H. Taylor}, booktitle={CVPR}, year={2000} }