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An image-guided robot for needle insertion in small animal. Accurate needle positioning using visual servoing. | IEEE Conference Publication | IEEE Xplore

An image-guided robot for needle insertion in small animal. Accurate needle positioning using visual servoing.


Abstract:

The development of new medical therapies often require experiments on small animals. In order to improve the medical protocol during treatments with needles, we propose a...Show More

Abstract:

The development of new medical therapies often require experiments on small animals. In order to improve the medical protocol during treatments with needles, we propose a new robotic needle insertion system using CT-scan imaging and visual servoing. The biologist defines the skin entry point and the target to be reached in the CT-image. The needle target is then expressed in the robot frame thanks to a 3D registration between the 3D structured light reconstruction of the animal bed and the 3D model obtained from the CT-scan data. Finally the needle pointing is performed thanks to a 2D visual servoing. This approach is independent of the needle model and allows a high positioning accuracy: less than 0.5 pixel for the tip of the needle and less than 10-3 rad for the direction. Experiments show promising results: a needle with a diameter of 0.72 mm can be inserted through two holes with diameters of 2 mm.
Date of Conference: 22-26 September 2008
Date Added to IEEE Xplore: 14 October 2008
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Conference Location: Nice, France

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