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Medical Image Registration Methods for Intra-Cavity Surgical Robots  

An, Jae-Bum (건국대학교 기계설계학과)
Lee, Sang-Yoon (건국대학교 기계공학부)
Publication Information
Journal of the Korean Society for Precision Engineering / v.24, no.9, 2007 , pp. 140-147 More about this Journal
Abstract
As the use of robots in surgeries becomes more frequent, the registration of medical devices based on images becomes more important. This paper presents two numerical algorithms for the registration of cross-sectional medical images such as CT (Computerized Tomography) or MRI (Magnetic Resonance Imaging) by using the geometrical information from helix or line fiducials. Both registration algorithms are designed to be used for a surgical robot that works inside a cavity of human body. This paper also reports details about the fiducial pattern that includes four helices and one line. The algorithms and the fiducial pattern were tested in various computer-simulated situations, and the results showed excellent overall registration accuracy.
Keywords
image registration; surgical robots; numerical algorithm; curve fiducials;
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