Development of registration marker for CT-guided needle insertion robot

Shun Inoue, Ryosuke Tsumura, Hiroyasu Iwata

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    For accurate insertion by CT-guided robot, we need registration between the coordinate of robot and CT by calculating the section images. In this paper, we intended to develop the geometric marker for registration. The requirements are geometric shapes that the error of 3 DOF (yaw and pitch angles and a craniocaudal distance) between CT image and the marker can be calculated and the material is suitable for CT imaging. Then, marker has four oblique prisms to calculate the error of 3DOF. Oblique prism has advantage on the point of reducing error of angle calculation because of the slope of inverse trigonometric function. From the result of evaluation, accuracy of registration system by geometric marker is satisfactory for insertion to the tumor in lower abdominal region.

    Original languageEnglish
    Title of host publication2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages755-760
    Number of pages6
    ISBN (Electronic)9781509059980
    DOIs
    Publication statusPublished - 2017 Aug 21
    Event2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany
    Duration: 2017 Jul 32017 Jul 7

    Other

    Other2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
    CountryGermany
    CityMunich
    Period17/7/317/7/7

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Control and Systems Engineering
    • Computer Science Applications
    • Software

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  • Cite this

    Inoue, S., Tsumura, R., & Iwata, H. (2017). Development of registration marker for CT-guided needle insertion robot. In 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 (pp. 755-760). [8014108] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2017.8014108