{"id":{"repo_id":"uwo","oai_identifier":"oai:uwo.scholaris.ca:20.500.14721/33734"},"canonical_url":"https://search.dev.ndltd.org/etd/uwo/oai:uwo.scholaris.ca:20.500.14721/33734","repository":{"repo_id":"uwo","name":"Western University","base_url":"https://uwo.scholaris.ca/server/oai/request"},"display":{"title":"Development of a Three-Dimensional Image-Guided Needle Positioning System for Small Animal Interventions","abstract":"Conventional needle positioning techniques for small animal microinjections are fraught with issues of repeatability and targeting accuracy. To improve the outcomes of these interventions a small animal needle positioning system guided by micro-computed tomography (micro-CT) imaging was developed. A phantom was developed to calibrate the geometric accuracy of micro-CT scanners to a traceable standard of measurement. Use of the phantom ensures the geometric fidelity of micro-CT images for use in image-guided interventions or other demanding quantitative applications. The design of a robot is described which features a remote center of motion architecture and is compact enough to operate within a micro-CT bore. Methods to calibrate the robot and register it to a micro-CT scanner are introduced. The performance of the robot is characterized and a mean targeting accuracy of 149 ± 41 µm estimated. The robot is finally demonstrated by completing an in vivo biomedical application.","abstract_html":"Conventional needle positioning techniques for small animal microinjections are fraught with issues of repeatability and targeting accuracy. To improve the outcomes of these interventions a small animal needle positioning system guided by micro-computed tomography (micro-CT) imaging was developed. A phantom was developed to calibrate the geometric accuracy of micro-CT scanners to a traceable standard of measurement. Use of the phantom ensures the geometric fidelity of micro-CT images for use in image-guided interventions or other demanding quantitative applications. The design of a robot is described which features a remote center of motion architecture and is compact enough to operate within a micro-CT bore. Methods to calibrate the robot and register it to a micro-CT scanner are introduced. The performance of the robot is characterized and a mean targeting accuracy of 149 ± 41 µm estimated. The robot is finally demonstrated by completing an in vivo biomedical application.","abstract_has_math":false,"creators":["Waring, Christopher S.R."],"institution":"The University of Western Ontario","degree_name":"M Eng Sci","degree_level":null,"degree_discipline":"Biomedical Engineering","degree_department":null,"school":null,"contributors":[],"advisors":["James Lacefield","Aaron Fenster"],"committee_chairs":[],"committee_members":[],"year":2012,"date_issued":"2012-01-25","date_published":"2012-01-25","updated_at":"2026-07-27T21:56:05Z","subjects":["medical robotics","image-guided interventions","small animal imaging","x-ray micro-computed tomography","imaging phantom design and construction"],"languages":["en_ca"],"rights":[],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"https://hdl.handle.net/20.500.14721/33734","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.advisor","label":"Advisor","values":["James Lacefield","Aaron Fenster"]},{"key":"dc:creator","label":"Author","values":["Waring, Christopher S.R."]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2025-07-10T19:55:05Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2025-07-10T19:55:05Z"]},{"key":"dc:date.issued","label":"Date","values":["2012-01-25"]},{"key":"dc:publisher","label":"Institution","values":["The University of Western Ontario"]},{"key":"dc:type","label":"Dc Type","values":["thesis"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Biomedical Engineering"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M Eng Sci"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["medical robotics","image-guided interventions","small animal imaging","x-ray micro-computed tomography","imaging phantom design and construction"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language.iso","label":"Language (ISO)","values":["en_ca"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.uri","label":"Identifier URI","values":["https://hdl.handle.net/20.500.14721/33734"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["The thesis cover page in the PDF document includes references to Western University’s previous institutional repository platform, known as Scholarship@Western, and links to that platform (beginning with ir.lib.uwo.ca). In citing or referring to this thesis, use the DOI or handle from this page instead. Sample citation: Author name, \"Thesis title.\" (Year). Western University Open Repository. https://doi.org/10.71858/123456."]},{"key":"dc:description.abstract","label":"Abstract","values":["Conventional needle positioning techniques for small animal microinjections are fraught with issues of repeatability and targeting accuracy. To improve the outcomes of these interventions a small animal needle positioning system guided by micro-computed tomography (micro-CT) imaging was developed. A phantom was developed to calibrate the geometric accuracy of micro-CT scanners to a traceable standard of measurement. Use of the phantom ensures the geometric fidelity of micro-CT images for use in image-guided interventions or other demanding quantitative applications. The design of a robot is described which features a remote center of motion architecture and is compact enough to operate within a micro-CT bore. 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