TY - GEN
T1 - Robot-to-image Registration with Geometric Marker for CT-guided Robotic Needle Insertion
AU - Ikeda, Iori
AU - Sekine, Kai
AU - Tsumura, Ryosuke
AU - Iwata, Hiroyasu
N1 - Funding Information:
*Research supported by Hasumi International Research Foundation. I. Ikeda is with Graduate School of Creative Science and Engineering, Waseda University, 27 Waseda-cho, Shinjuku-ku, Tokyo 162-0042, Japan (corresponding author; Phone: +81-3-3203-4427; Fax: +81-3-3203-4427; E-mail: iori-ikeda@iwata.mech.waseda.ac.jp).
Publisher Copyright:
© 2021 IEEE
PY - 2021
Y1 - 2021
N2 - A computed tomography (CT)-guided robotic needle requires registration to transfer coordinates between the robot and CT image for accurate insertion. In our previous work, we proposed a geometric marker that allows direct registration between a CT image and robot and demonstrated its proof of concept. In this paper, we present a registration algorithm for calculating the six-degrees-of-freedom error of one CT scan, and we demonstrated the registration with our needle insertion robot. We obtained its geometric shape from differences between multiple images, which we converted into the coordinate axes of the marker, to calculate the posture of the marker. Since the algorithm uses changes in the cross-sectional shapes of images, it can be adapted for markers of different sizes. In the evaluation, the registration error for insertion by the CT-guided robotic needle with the proposed algorithm was calculated to be 1.8 mm and 0.35°. The accuracy of the proposed algorithm is sufficient for lower abdominal insertion and shows its potential for clinical applications. When the markers are half the size of the original, the rotational error is the same as the original, but the positional error is about half. This suggested the possibility of miniaturizing the marker.
AB - A computed tomography (CT)-guided robotic needle requires registration to transfer coordinates between the robot and CT image for accurate insertion. In our previous work, we proposed a geometric marker that allows direct registration between a CT image and robot and demonstrated its proof of concept. In this paper, we present a registration algorithm for calculating the six-degrees-of-freedom error of one CT scan, and we demonstrated the registration with our needle insertion robot. We obtained its geometric shape from differences between multiple images, which we converted into the coordinate axes of the marker, to calculate the posture of the marker. Since the algorithm uses changes in the cross-sectional shapes of images, it can be adapted for markers of different sizes. In the evaluation, the registration error for insertion by the CT-guided robotic needle with the proposed algorithm was calculated to be 1.8 mm and 0.35°. The accuracy of the proposed algorithm is sufficient for lower abdominal insertion and shows its potential for clinical applications. When the markers are half the size of the original, the rotational error is the same as the original, but the positional error is about half. This suggested the possibility of miniaturizing the marker.
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U2 - 10.1109/ICRA48506.2021.9561876
DO - 10.1109/ICRA48506.2021.9561876
M3 - Conference contribution
AN - SCOPUS:85125497875
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 8643
EP - 8648
BT - 2021 IEEE International Conference on Robotics and Automation, ICRA 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Robotics and Automation, ICRA 2021
Y2 - 30 May 2021 through 5 June 2021
ER -