Fig. 1:

Overall pipeline of our robotic needle injection system. Inputs include (a) patient-specific CT scan and spine vertebrae segmentation, (b) an injection device model. The planning module shows (c) the surgeon’s interface to annotate needle injection trajectories and an example display of the planned trajectories on the CT segmentation. Multi-view registration presents: (d) multi-view C-arm X-ray projection geometries. The source-to-detector center projection line is rendered in green and the detector planes are rendered as squares. The needle injector guide and the spine anatomy are rendered using the registration pose. (e)(f)(g) Registration overlay images of the needle injector guide. The outlines of the reprojected injection device are overlayed in green. (h)(i)(j) Registration overlay images of the cadaveric spine vertebraes. We present an actual cadaveric needle injection image in (k).