Robotic CBCT Meets Robotic Ultrasound
Feng Li, Yuan Bi, Dianye Huang, Zhongliang Jiang, Nassir Navab

TL;DR
This paper introduces a robotic dual-modality imaging system combining CBCT and ultrasound, enabling precise, registration-free guided interventions with improved accuracy and efficiency in clinical procedures.
Contribution
The study presents the first robotic system that pre-calibrates and dynamically co-registers CBCT and ultrasound, enhancing multi-modal guidance without tissue deformation issues.
Findings
Average mapping error of 1.72 mm between US and CBCT
50% improvement in needle intervention success rate
Significant reductions in procedure time and increased accuracy
Abstract
The multi-modality imaging system offers optimal fused images for safe and precise interventions in modern clinical practices, such as computed tomography - ultrasound (CT-US) guidance for needle insertion. However, the limited dexterity and mobility of current imaging devices hinder their integration into standardized workflows and the advancement toward fully autonomous intervention systems. In this paper, we present a novel clinical setup where robotic cone beam computed tomography (CBCT) and robotic US are pre-calibrated and dynamically co-registered, enabling new clinical applications. This setup allows registration-free rigid registration, facilitating multi-modal guided procedures in the absence of tissue deformation. First, a one-time pre-calibration is performed between the systems. To ensure a safe insertion path by highlighting critical vasculature on the 3D CBCT, SAM2…
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Taxonomy
TopicsSoft Robotics and Applications · Advanced Radiotherapy Techniques · Advanced MRI Techniques and Applications
