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Projection-based visual guidance for robot-aided RF needle insertion.

Rong Wen¹, Chee-Kong Chui, Sim-Heng Ong

¹Department of Mechanical Engineering, National University of Singapore, Singapore, 117576, Singapore, g0801390@nus.edu.sg.

International Journal of Computer Assisted Radiology and Surgery

|May 8, 2013

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This study introduces an augmented reality (AR) guidance system for robotic needle insertion during radiofrequency (RF) ablation. The projector-based AR system achieved high accuracy, demonstrating its effectiveness in assisting surgical procedures.

Area of Science:

Medical Technology
Surgical Robotics
Augmented Reality

Background:

Projector-based augmented reality (AR) offers advantages in surgery, including consistent focus, extended field of view, and enhanced interaction.
AR enables surgeons to visualize anatomical models and data directly on the patient's surface.

Purpose of the Study:

To present an AR guidance mechanism using a projector-camera system for supervising robotic needle insertion in radiofrequency (RF) ablation.
To provide surgeons with direct visual feedback during procedures.

Main Methods:

Surface-matching and point-based registration align target organ models with the patient's body.
An extended Kalman filter and spatial transformation algorithm compute virtual needle depth for AR display.

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Main Results:

Experiments on a mannequin demonstrated accurate AR visualization and virtual needle insertion.
The system achieved an average accuracy of 1.86 mm for virtual needle insertion, meeting the clinical requirement of 2 mm or better.
The feasibility of augmented interaction with a surgical robot via an open AR interface with visual feedback was confirmed.

Conclusions:

The developed guidance system effectively assists surgeons in robot-assisted radiofrequency ablation.
This work establishes a novel navigational procedure for percutaneous surgical augmented intervention by integrating projection-based AR guidance with robotic implementation for needle insertion.