A single image registration method for CT guided interventions

Abstract

Minimally invasive image guided interventions are an attractive option for localized therapy delivery and diagnostic biopsy. We have developed a method for CT guided needle placement, based upon the Brown- Roberts-Wells frame, which requires no immobilization or fiducial implantation. A localization module, placed on a needle holding robotic end effector, allows for localization of the effector in the image space using a single CT image. In a theoretical analysis, we show that this registration method has attractive sensitivity and error attenuation properties. Experimentally, the average error in needle tip location over 63 trials was 470 μm; 95% of the errors were below 1.0mm. This method is a fast, accurate, and easily implemented registration method for cross sectional image guided stereotaxis.