Paper Info
Title
An Efficient Method to Realize Space Registration in Image-Guided Robot-Assisted Surgery
Abstract
This paper presents an efficient method to realize space registration in percutaneous robot-assisted lung cancer cryosurgery guided by Computer Tomography (CT). Based on the positions of the fiducial markers on patient's body, the space registration is established to transform the surgical plan on preoperatively taken images to robot space to compute robot commands. To overcome limitations of using other media to position markers, an optical tracking system using visible light is adopted in this paper. Markers are designed to be identified by both the CT and the tracking system. Through experiments, the accuracy of the registration can satisfy the clinical requirement. Compared to previous methods, the method takes much less time and simplifies the manipulation of the registration process.
Year
DOI
Venue
2008
10.1007/978-3-540-88513-9_80
ICIRA (1)
Keywords
Field
DocType
optical tracking system,robot space,previous method,image-guided robot-assisted surgery,clinical requirement,efficient method,tracking system,space registration,robot command,registration process,computer tomography,realize space registration,satisfiability,visible light,computed tomography
Computer vision,Fiducial marker,Tracking system,Tomography,Optical tracking,Artificial intelligence,Robot,Mathematics
Conference
Volume
ISSN
Citations 
5314
0302-9743
0
PageRank 
References 
Authors
0.34
0
4
Name
Order
Citations
PageRank
Hanqing Chen100.34
Tong Cao200.34
Da Liu3135.17
Can Tang421.09