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A Spine Robotic-Assisted Navigation System for Pedicle Screw Placement

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Automatic entry point planning for robotic post-mortem CT-based needle placement.

Lars C Ebert¹, Martin Fürst², Wolfgang Ptacek²

¹Department of Forensic Medicine and Imaging, Zurich Institute of Forensic Medicine, University of Zurich, Winterthurerstrasse 190/52, 8057, Zurich, Switzerland. lars.ebert@virtopsy.com.

Forensic Science, Medicine, and Pathology

|July 17, 2016

Summary

This summary is machine-generated.

This study introduces an algorithm for automated needle placement in post-mortem CT scans. The algorithm optimizes needle trajectory planning, enhancing speed and accuracy for forensic sample collection.

Keywords:

Biopsy Forensic imaging Post-mortem needle placement Trajectory planning Virtopsy

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Area of Science:

Medical Imaging
Forensic Science
Robotics

Background:

Post-mortem computed tomography (CT) guided needle placement is crucial for obtaining tissue and fluid samples for analysis.
Automation of this process can improve accuracy and efficiency for routine forensic examinations.

Purpose of the Study:

To develop an algorithm for optimizing needle entry points and end-effector orientation in post-mortem CT scans.
To enhance the speed and safety of trajectory planning for automated needle placement.

Main Methods:

The algorithm processes CT data to extract bone and surface information, identifying potential entry points.
It filters entry points based on constraints like reachability and collision avoidance (bone, other needles).
A rating system prioritizes valid entry points, and optimal end-effector rotation is calculated.

Main Results:

The algorithm achieves fast planning times, typically 5-6 seconds per entry point when no end-effector collision occurs.
Collision detection for end-effector rotation can increase calculation time up to 24 seconds.

Conclusions:

The developed algorithm significantly facilitates and speeds up trajectory planning for needle placement in forensic imaging.
This automation holds promise for more routine and efficient post-mortem sample collection.