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Fluoroscopy servoing using translation/rotation decoupling in an A/P view

This paper presents a fluoroscopy servoing algorithm for automatic alignment of a needle using a medical robot during interventional procedures. The goal of this work is to provide physicians with assistance in needle alignment during minimally invasive procedures under fluoroscopy imaging. This may also help reduce radiation exposure for the physician and provide more accurate targeting of internal anatomy. The paper presents the overall concept and describes our implementation along with the initial laboratory results and studies in the interventional suite. The algorithm is based on a single anterior/posterior fluoroscopic image. Future work will be aimed at demonstrating the clinical feasibility of the method.