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An Efficient Method to Realize Space Registration in Image-Guided Robot-Assisted Surgery

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Intelligent Robotics and Applications (ICIRA 2008)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 5314))

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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.

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Author information

Authors and Affiliations

  1. School of Mechanical Engineering, University of Science and Technology Beijing, Beijing, 100083, P.R. China

    Hanqing Chen & Tong Cao

  2. Robotics Institute, School of Mechanical Engineering and Automation, Beihang University, Email: qust022.ivy@163.com, Beijing, 100083, P.R. China

    Da Liu & Can Tang

Authors
  1. Hanqing Chen
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  2. Tong Cao
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  3. Da Liu
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  4. Can Tang
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Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, China

    Caihua Xiong , Yongan Huang  & Youlun Xiong ,  & 

  2. Institute of Industrial Research, University of Portsmouth, Burnaby Building, PO1 3QL, Portsmouth, UK

    Honghai Liu

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© 2008 Springer-Verlag Berlin Heidelberg

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Chen, H., Cao, T., Liu, D., Tang, C. (2008). An Efficient Method to Realize Space Registration in Image-Guided Robot-Assisted Surgery. In: Xiong, C., Huang, Y., Xiong, Y., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5314. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88513-9_80

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  • DOI: https://doi.org/10.1007/978-3-540-88513-9_80

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-88512-2

  • Online ISBN: 978-3-540-88513-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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