A targeting method for robot-assisted percutaneous needle placement under fluoroscopy guidance

Figures & data

Figure 1. System structure.

Figure 2. The structure of the end-effector.

Figure 3. The movement of the end-effector in the FOV of a fluoroscopy.

Figure 4. The state when the alignment finished.

Figure 5. Pre-clinical experiment setup.

Figure 6. Fluoroscopy images of end-effector in pre-clinical validation. a) The fluoroscopy image before alignment; b) The fluoroscopy image after alignment.

Table 1. The experiment data of pre-clinical experiments.

	Target		Small Circle		Large Circle
	X	Y	X	Y	X	Y
1	396	515	393	515	395	515
2	710	685	710	682	711	683
3	563	460	561	459	561	461
4	350	713	350	713	350	714
5	320	390	322	391	323	389
6	420	422	420	422	419	420
7	563	628	561	627	564	630
8	444	570	441	569	443	571
9	611	360	611	361	612	359
10	641	503	639	503	640	502

Figure 7. Fluoroscopy images of end-effector in clinical application. a) The fluoroscopy image before alignment; b) The fluoroscopy image after alignment.

Figure 8. The surgeon finished the needle placement after the targeting.

Figure 9. Verifying the accuracy of pedicle screw placement using the AP and lateral fluoroscopic images.