TY - GEN
T1 - Development of registration marker for CT-guided needle insertion robot
AU - Inoue, Shun
AU - Tsumura, Ryosuke
AU - Iwata, Hiroyasu
N1 - Funding Information:
*Resrach supported by Hasumi International Research Foundation S. Inoue and R. Tsumura are at the 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: shun-inoue@iwata.mech.waseda.ac.jp).
Publisher Copyright:
© 2017 IEEE.
PY - 2017/8/21
Y1 - 2017/8/21
N2 - 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.
AB - 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.
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U2 - 10.1109/AIM.2017.8014108
DO - 10.1109/AIM.2017.8014108
M3 - Conference contribution
AN - SCOPUS:85028751511
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 755
EP - 760
BT - 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Y2 - 3 July 2017 through 7 July 2017
ER -