Tactile feedback and display in a ct image guided robotic system for interventional procedures

Abstract

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