Design and Evaluation of a Needle Manipulation System with EM Tracking for CT-Guided Spinal Injections

May 4, 2025·
Chang Chang
Chang Chang
,
Junling Mei
,
Yanzhou Wang
,
Lidia Al-Zogbi
,
Simon Leonard
,
Amit Jain
,
Iulian Iordachita
· 1 min read
Image credit: Unsplash
Abstract
This paper presents a flexible needle guidance system and its workflow that enables registration of computed tomography (CT) and electromagnetic (EM) tracking systems with a finite element (FE) simulator for needle-based percutaneous spinal injections. CT is used only pre- and postoperatively for surgical planning and confirmation, while EM tracking is combined intraoperatively with an FE-based needle controller to track the planned needle trajectory and avoid obstacles. Evaluation of the proposed system using a multi-layer soft tissue phantom shows an average targeting accuracy of 0.4 mm.
Type
Publication
In IEEE International Symposium on Medical Robotics (ISMR 2025)
Note

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Needle Steering Medical Robotics Finite Element Simulation EM Tracking CT-Guided Intervention
Chang Chang
Authors
Chang Chang (he/him/his)
Research Assistant in Johns Hopkins University