Robot Assisted Needle Placement: Application developed using an open source image guided surgery toolkit (IGSTK)
Authors:Cheng, Peng,Enquobahrie, Andinet,Stenzel, Roland,Lin, Ralph,Zhang, Hui,Yaniv, Ziv,Kim, Hee-su,Cleary, Kevin
Abstract
Using a robot system to position needles or needle shaped tools during clinical procedures such as biopsy, radio frequency ablation, and target drug delivery has a great potentials in increasing accuracy and speed of the process, and minimizing trauma to patient. This paper describes a robot assist needle placement system developed using Image Guided Surgery Toolkit (IGSTK). IGSTK is an open source software toolkit aimed at providing a robust and safe platform for researchers and clinicians for fast prototyping of image guided applications with minimum cost and effort