Segmentation of surgical needles for fluoroscopy servoing using the insight software toolkit (ITK)

  • Cleary K
  • Ibanez L
  • Navab N
 et al. 
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This paper presents recent work in segmenting surgical needles as seen under x-ray fluoroscopy. This work is part of developing a system for automatically aligning a surgical needle during minimally invasive interventions. The system incorporates a six degree-of-freedom robotic needle driver that is specifically designed for medical applications. The needle is segmented using methods from the Insight Software Toolkit (ITK), which provides a public domain and open source implementation of state-of-the-art registration and segmentation algorithms.

Author-supplied keywords

  • -segmentation
  • fluoroscopy servoing
  • robotics

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  • K Cleary

  • L Ibanez

  • N Navab

  • D Stoianovici

  • A Patriciu

  • G Corral

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