University of Twente Student Theses


Robot assisted needle positioning system for liver biopsy

Vashistha, G. (2021) Robot assisted needle positioning system for liver biopsy.

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Abstract:Intra-fraction motion is a major source of errors and inaccuracy in image-guided interventions. This motion can be induced by respiratory, skeletal muscular, cardiac, and gastrointestinal systems. The induced hepatic motion causes the misplacement of the needle during the biopsy procedure, due to inaccurate targeting of a liver tumor. This research focuses on compensating the respiratory-induced motion by estimating tumor motion using external surrogate signals and positioning a robotic manipulator for the biopsy procedure. This research is done in collaboration with Philips Medical Systems to develop a robotic system for computed tomography (CT)-guided needle positioning for liver biopsy. The needle positioning system includes an interventional imaging system, a respiratory motion estimation model, and a robotic manipulator. The response time of the system for tracking the tumor and positioning the robotic arm has been calculated to validate if the algorithm could be deployed in the real application. Also, the tumor's position estimation error has been calculated to determine the accuracy of the algorithm.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:50 technical science in general, 54 computer science
Programme:Embedded Systems MSc (60331)
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