|Title: Combined Ultrasound and OCT Imaging for Robotic Needle Placement IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'15)|
|Written by: S.-T. Antoni, C. Otte, O. Rajput, K. Schulz, A. Schlaefer|
|in: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'15) October 2015|
|on pages: 4737|
|Address: Hamburg, Germany|
Abstract: The precise placement of needles is a crucial requirement for many medical procedures. We present a setup to enhance the safe and precise placement of needles with respect to a certain target structure by use of co-registered Doppler-OCT and Ultrasound imaging as well as an articulated robot. External ultrasound imaging and Doppler OCT measurements from within the needle showed similar results in estimating the tissue displacement during needle insertion.