Toward Fluoroscopy Guided Robotic Needle Insertion for Radio Frequency Ablation

• Published in: Computer animation and virtual worlds Vol. 36; no. 3
• Main Authors: Ha, Thuc‐Long, Verde, Juan, Bert, Julien, Courtecuisse, Hadrien
• Format: Journal Article
• Language: English
• Published: Hoboken, USA John Wiley & Sons, Inc 01.05.2025; Wiley Subscription Services, Inc; Wiley
• Subjects: 2D/3D registration; Ablation; Actuation; Bioengineering; Biomechanics; Computer Science; Finite element method; flexible needle steering; Fluoroscopic imaging; Human health and pathology; Hépatology and Gastroenterology; Image acquisition; Imaging; Insertion; Life Sciences; Liver cancer; medical robotics; Modeling and Simulation; Radio frequency; Registration; Robotics; simulation; Surgery; Tumors; 2D/3D registration; finite element method; flexible needle steering; medical robotics; simulation

ABSTRACT This article presents a fluoroscopy image‐based registration method along with a comprehensive protocol for robotic needle insertion in radiofrequency ablation (RFA) to treat liver cancer. The proposed method uses real‐time fluoroscopic images acquired from a C‐ARM system and integrates an...