ML Anthology

Visual Servoing for Automatic and Uncalibrated Needle Placement for Percutaneous Procedures

Nassir Navab, Benedicte Bascle, Michael H. Loser, Bernhard Geiger, Russell H. Taylor
CVPR 2000 pp. 2327-2334
doi:10.1109/CVPR.2000.854838 /cvpr/2000/navab2000cvpr-visual/

Abstract

This paper presents a new approach to image-based guidance of a needle or surgical tool during percutaneous procedures. The method is based on visual servoing. It requires no prior calibration or registration. The technique provides highly precise 3D-alignment of the tool with respect to an anatomic target. By taking advantage of projective geometry and projective invariants, this can be achieved in a fixed number (12) of iterations. In addition the approach estimates the required insertion depth. Experiments include automatic 3D alignment and insertion of a needle held by a medical robot into a pig kidney under X-ray fluoroscopy.

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Cite

Text

Navab et al. "Visual Servoing for Automatic and Uncalibrated Needle Placement for Percutaneous Procedures." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2000. doi:10.1109/CVPR.2000.854838

Markdown

[Navab et al. "Visual Servoing for Automatic and Uncalibrated Needle Placement for Percutaneous Procedures." IEEE/CVF Conference on Computer Vision and Pattern Recognition, 2000.](https://mlanthology.org/cvpr/2000/navab2000cvpr-visual/) doi:10.1109/CVPR.2000.854838

BibTeX

@inproceedings{navab2000cvpr-visual,
  title     = {{Visual Servoing for Automatic and Uncalibrated Needle Placement for Percutaneous Procedures}},
  author    = {Navab, Nassir and Bascle, Benedicte and Loser, Michael H. and Geiger, Bernhard and Taylor, Russell H.},
  booktitle = {IEEE/CVF Conference on Computer Vision and Pattern Recognition},
  year      = {2000},
  pages     = {2327-2334},
  doi       = {10.1109/CVPR.2000.854838},
  url       = {https://mlanthology.org/cvpr/2000/navab2000cvpr-visual/}
}