Needle based interventions such as biopsy or brachytherapy require precise and safe placement of needles inside soft tissue. Robotic needle drivers and externels can support the needle insertion, but their capabilities are limited when it comes to tissue deformation.

Detecting, avoiding and compensating soft tissue deformation during needle insertion is a an ongoing research topic at our institute.

Robotics & Image Guidance for Brachytherapy

References

  • S. Latus, M. Lutz, C. Otte, T. Saathoff, K. Schulz, N. Frey, A. Schlaefer (2016). A setup for systematic evaluation and optimization of OCT imaging in the coronary arteries. CARS 2016 Proceedings, supplement of the International Journal of CARS accepted. [BibTex]

  • K. Schulz, C. Otte, G. Hüttmann, A. Schlaefer (2015). A Concept for Fail Safe Robotic Needle Insertion in Soft Tissue. Gemeinsamer Tagungsband der Workshops der Tagung Software Engineering Dresden, Germany 7--10. [BibTex]

  • S.-T. Antoni, C. Otte, O. Rajput, K. Schulz, A. Schlaefer (2015). Hybrid Needle Localization using Co-registered Ultrasound and OCT Imaging. In Jessica Burgner-Kahrs and Alexander Schlaefer (Eds.) Workshop Proceedings: Navigation and Actuation of Flexible Instruments in Medical Application (NAFIMA) Hamburg, Germany 24--25. [Abstract] [www] [BibTex]

  • S.-T. Antoni, C. Otte, O. Rajput, K. Schulz, A. Schlaefer (2015). Combined Ultrasound and OCT Imaging for Robotic Needle Placement. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'15) Hamburg, Germany [Abstract] [BibTex]

  • C. Otte, G. Hüttmann, A. Schlaefer (2012). Feasibiliy of optical detection of soft tissue deformation during needle insertion. SPIE Medical Imaging. [BibTex]