Options
A concept for fail safe robotic needle insertion in soft tissue
Publikationstyp
Conference Paper
Date Issued
2015-03
Sprache
English
Institut
TORE-URI
First published in
Number in series
1337
Volume
1337
Start Page
7
End Page
10
Citation
CEUR Workshop Proceedings (1337): 7-10 (2015-03)
Contribution to Conference
Scopus ID
This paper presents a concept of automatic needle placement for brachytherapy. For the success of this minimally invasive treatment, a precise and safe placement of needles inside soft tissue is fundamental. The presented concept incorporates information about the needle as well as the tissue to find a suitable needle trajectory. A patient-specific tissue model is derived from different imaging modalities and updated during the insertion. Essential for this concept is that during the robotic placement of the needle, it is continuously verified if proceeding is safe.