Numerical Algorithms of Image Registration for Intra-Cavity Surgical Robots

인체 공동 내부 수술용 로봇을 위한 이미지기반 레지스트레이션 알고리즘

This paper presents two numerical algorithms for registration of cross-sectional medical images such as CT (Computerized Tomography) or MRI (Magnetic Resonance Imaging) by using geometrical information from helix or line fiducials. The registration algorithms are designed to be used for a surgical robot working inside cavities of human body. A cylindrical device with a combination of line and helix fiducials were also devised and is supposed to be attached to the end-effector of surgical robot. The algorithms and the fiducial pattern were tested in various computer-simulated situations, and the results indicate excellent overall registration accuracy.