Yu Zhou,Kaarvannan Thiruvalluvan,Lukasz Krzeminski,William H. Moore,Zhigang Xu,Zhengrong Liang
申请号：
US14232979
公开号：
US20150073259A1
申请日:
2012.07.20
申请国别(地区):
US
年份:
2015
代理人:
摘要：
An image-guided system and method for performing needle biopsy on a moving lung nodule of a body is provided. CT images of the lung nodule are obtained to generate a motion model, based on which an optimal needle advancing path is determined. The motion of the lung nodule and the motion of a fiducial marker attached to the body are correlated. The motion of the fiducial marker is tracked and monitored by a camera to determine a position of the lung nodule based on the correlation. A time for advancing the needle is determined based on a motion attribute of the reference. The needle is advanced by a robotic needle manipulator at the predetermined time along the path to accomplish the needle placement.
