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Fluoroscopy based needle-positioning system for percutaneous nephrolithotomy procedures
Thesis (MScEng (Mechanical and Mechatronic Engineering))--Stellenbosch University, 2008.
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| Other Authors: | |
| Format: | Thesis |
| Language: | English |
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Stellenbosch : Stellenbosch University
2008
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| _version_ | 1867613781963571200 |
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| access_status_str | Open Access |
| author | Conradie, Jean-Pierre |
| author2 | Scheffer, C. |
| author_browse | Conradie, Jean-Pierre Scheffer, C. |
| author_facet | Scheffer, C. Conradie, Jean-Pierre |
| author_sort | Conradie, Jean-Pierre |
| collection | Thesis |
| dc_rights_str_mv | Stellenbosch University |
| description | Thesis (MScEng (Mechanical and Mechatronic Engineering))--Stellenbosch University, 2008. |
| format | Thesis |
| id | oai:scholar.sun.ac.za:10019.1/1768 |
| institution | Stellenbosch University (South Africa) |
| language | English |
| last_indexed | 2026-06-10T12:41:36.774Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from SUNScholar — Stellenbosch University Repository |
| publishDate | 2008 |
| publishDateRange | 2008 |
| publishDateSort | 2008 |
| publisher | Stellenbosch : Stellenbosch University |
| publisherStr | Stellenbosch : Stellenbosch University |
| record_format | dspace |
| source_str | SUNScholar — Stellenbosch University Repository |
| spelling | oai:scholar.sun.ac.za:10019.1/1768 Fluoroscopy based needle-positioning system for percutaneous nephrolithotomy procedures Conradie, Jean-Pierre Scheffer, C. Schreve, K. Stellenbosch University. Faculty of Engineering. Dept. of Mechanical and Mechatronic Engineering. PCNL procedure Kidney calyx Needle placement Kidney surgery Robotic access Dissertations -- Mechatronic engineering Theses -- Mechatronic engineering Image processing Thesis (MScEng (Mechanical and Mechatronic Engineering))--Stellenbosch University, 2008. A fluoroscopy-guided needle-positioning system is designed and tested as a first prototype for aiding urologists in gaining fast, accurate and repeatable kidney calyx access during a PCNL procedure while also reducing radiation exposure of the people involved. Image guidance is realized by modelling the fluoroscopic system as an adapted pinhole camera model and utilizing stereo vision principles on a stereo image pair. Calibration, distortion correction and image processing algorithms are implemented on images of a designed calibration object. Thereafter the resulting variables are used in the targeting of the calyx with the aid of a graphical user interface. The required relative translation and rotation of the needle from its current position to the target is calculated and the system is adjusted accordingly. Using digital cameras, needle placement accuracies of 2.5 mm is achieved within the calibrated volume in a simulated environment. Similar results are achieved in the surgery room environment using the fluoroscopic system. Successful needle access in two porcine kidney calyxes concluded the testing 2008-10-01T12:33:40Z 2010-06-01T08:32:49Z 2008-10-01T12:33:40Z 2010-06-01T08:32:49Z 2008-12 Thesis http://hdl.handle.net/10019.1/1768 en Stellenbosch University application/pdf Stellenbosch : Stellenbosch University |
| spellingShingle | PCNL procedure Kidney calyx Needle placement Kidney surgery Robotic access Dissertations -- Mechatronic engineering Theses -- Mechatronic engineering Image processing Conradie, Jean-Pierre Fluoroscopy based needle-positioning system for percutaneous nephrolithotomy procedures |
| title | Fluoroscopy based needle-positioning system for percutaneous nephrolithotomy procedures |
| title_full | Fluoroscopy based needle-positioning system for percutaneous nephrolithotomy procedures |
| title_fullStr | Fluoroscopy based needle-positioning system for percutaneous nephrolithotomy procedures |
| title_full_unstemmed | Fluoroscopy based needle-positioning system for percutaneous nephrolithotomy procedures |
| title_short | Fluoroscopy based needle-positioning system for percutaneous nephrolithotomy procedures |
| title_sort | fluoroscopy based needle positioning system for percutaneous nephrolithotomy procedures |
| topic | PCNL procedure Kidney calyx Needle placement Kidney surgery Robotic access Dissertations -- Mechatronic engineering Theses -- Mechatronic engineering Image processing |
| url | http://hdl.handle.net/10019.1/1768 |
| work_keys_str_mv | AT conradiejeanpierre fluoroscopybasedneedlepositioningsystemforpercutaneousnephrolithotomyprocedures |