TACTILE FEEDBACK AND DISPLAY IN A CT IMAGE GUIDED ROGOTIC SYSTEM FOR INTERVENTIONAL PROCEDURES

摘要

A system (10) for conducting an image-guided medical procedure on a subject (20) includes a medical imaging apparatus (100) which intermittently during the procedure obtains, upon demand, real-time medical images of the actual procedure. A robotic arm (200) hold a medical instrument (e.g., a biopsy needle (210)) that is used to perform the procedure. The robotic arm (200) manipulates the medical instrument in response to drive signals from a haptic control (400). A detector (e.g., a strain gauge (230)) measurs forces experienced by the medical instrument during the procedure. The haptic control (400) generates the drive signals in response to manipulations of an input device (e.g., a knob (404) or an auxiliary instrument, such as, in the case of a biopsy, a remote needle (500)) by an operator, and the operator receives tactile feedback from the haptic control (400) in accordance with the measured forces experienced by the medical instrument. A display (e.g., a video monitor (152)) shows a virtual planning view of the procedure. The virtual planning view depicts a pre-procedure image (310) of the subject (20) with a virtual medical instrument (e.g., a virtual needle (300)) corresponding to the medical instrument held by the robotic arm (200) superimposed therein. In response to the drive signals from the haptic control (400), the virtual medical instrument has its position and orientation updated relative to the pre-procedure image (310).