Intra-fraction motion is a major source of errors and inaccuracy in image-guided interventions. This motion can be induced by respiratory, skeletal muscular, cardiac, and gastrointestinal systems. The induced hepatic motion causes the displacement of the needle during the biopsy procedure, due to inaccurate targeting of a liver tumour. This research focuses on compensating the respiratory induced motion by estimating tumour motion using external surrogate signals and positioning a robotic manipulator for the biopsy procedure.
This research is done in collaboration with Philips Medical Systems to develop a robotic system for computed tomography (CT)-guided needle positioning for liver biopsy. The needle positioning system includes an interventional imaging system, a respiratory motion estimation model, and a robotic manipulator. The response time of the system for tracking the tumour and positioning the robotic arm has been calculated to validate if the algorithm could be deployed in the real application. Also, the tumour's position estimation error has been calculated to determine the accuracy of the algorithm
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