Development of an image-guided robot for small animal research Journal Article
| Authors: | Kazanzides, P.; Chang, J.; Iordachita, I.; Li, J.; Ling, C. C.; Fichtinger, G. |
| Article Title: | Development of an image-guided robot for small animal research |
| Abstract: | We developed a robot system that can be used for image-guided experimental procedures on small animals, where the goal is to perform physical actions at specific positions identified on a preoperative image. The animal is first placed in a fixture that is compatible with all imaging systems of interest, including PET, SPECT, CT and MRI. After imaging, the fixture is attached and registered to the robot system, where the image-guided intervention is performed. This system has been applied to perform pO2 measurements with physical probes based on tumor hypoxia images obtained in an animal PET scanner. This paper focuses on the design and validation of the robot system. The validation is performed using a phantom and includes a new method for estimating the Fiducial Localization Error (FLE) that is based on the measured Fiducial Distance Error (FDE). The results indicate that the robot system can position the measurement probe at a defined target with a mean error that is less than 0.4 mm. © 2007 Informa UK Ltd. |
| Keywords: | conference paper; nuclear magnetic resonance imaging; positron emission tomography; animals; computer assisted tomography; oxygen; animal experiment; validation study; algorithms; hypoxia; imaging system; image quality; positron-emission tomography; diagnostic error; physical activity; oxygen tension; robotics; phantoms, imaging; tumor; image processing; single photon emission computer tomography; hypoxemia; partial pressure; micropet; computer aided design; mechanical probe; animals, laboratory; animal research; fiducial distance error; fiducial localization error; surgical robot |
| Journal Title: | Computer Aided Surgery |
| Volume: | 12 |
| Issue: | 6 |
| ISSN: | 1092-9088 |
| Publisher: | Informa Healthcare |
| Date Published: | 2007-11-01 |
| Start Page: | 357 |
| End Page: | 365 |
| Language: | English |
| DOI: | 10.1080/10929080701732538 |
| PUBMED: | 18066951 |
| PROVIDER: | scopus |
| DOI/URL: | |
| Notes: | --- - "Cited By (since 1996): 6" - "Export Date: 17 November 2011" - "CODEN: CAISF" - "Source: Scopus" |
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