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A Navigation System for Minimally Invasive CT-Guided Interventions

2005; Springer Science+Business Media; Linguagem: Inglês

10.1007/11566489_5

1611-3349

Markus Nagel, Gerd Schmidt, Ralf Petzold, Willi A. Kalender,

Soft Robotics and Applications

The purpose of our project was to develop a novel navigation system for interventional radiology. Fields of application are minimally invasive percutaneous interventions performed under local anaesthesia. In order to reduce unintentional patient movements we used a patient vacuum immobilization device. Together with the vacuum fixation and a newly developed reference frame we achieved a fully automatic patient-to-image registration independent from the tracking system. The combination of the software and a novel designed needle holder allows for an adjustment of the needle within a few seconds. The complete system is adapted to the requirements of the radiologist and to the clinical workflow. For evaluation of the navigation system we performed a phantom study with a perspex phantom and achieved an average needle positioning accuracy of less than 0.7 mm.