TY - GEN
T1 - An image-navigation system for vascular interventional surgery robot
AU - Zhang, Dapeng
AU - Wang, Tianmiao
AU - Da, Liu
AU - Liu, Dengling
PY - 2011
Y1 - 2011
N2 - A new image-navigation system for vascular interventional surgery robot (VISR) is proposed. This system can provide robot with navigation information based on projection images without other external tracking devices. Firstly, projection images acquired from digital subtraction angiography (DSA) machine are calibrated by iterative optimization process. Secondly, 3D vascular model is reconstructed from two calibrated projection images so that surgeons observe pathological vasculature and make surgical planning easily. Thirdly, roadmap view is provided by superimposing 3D vascular model and projection images, which allows surgeon to quantify robotic motion accurately. Finally, physical phantom experiments are performed to validate the 3D reconstruction accuracy by comparing the distance between reconstruction results with actual values. Animal experiments show that image-navigation system can satisfy the demanding of VISR.
AB - A new image-navigation system for vascular interventional surgery robot (VISR) is proposed. This system can provide robot with navigation information based on projection images without other external tracking devices. Firstly, projection images acquired from digital subtraction angiography (DSA) machine are calibrated by iterative optimization process. Secondly, 3D vascular model is reconstructed from two calibrated projection images so that surgeons observe pathological vasculature and make surgical planning easily. Thirdly, roadmap view is provided by superimposing 3D vascular model and projection images, which allows surgeon to quantify robotic motion accurately. Finally, physical phantom experiments are performed to validate the 3D reconstruction accuracy by comparing the distance between reconstruction results with actual values. Animal experiments show that image-navigation system can satisfy the demanding of VISR.
KW - Animal experiments
KW - Image-navigation
KW - physical phantom experiments
KW - Vascular Interventional Surgery Robot
UR - https://www.scopus.com/pages/publications/79960014576
U2 - 10.1109/ICCME.2011.5876718
DO - 10.1109/ICCME.2011.5876718
M3 - 会议稿件
AN - SCOPUS:79960014576
SN - 9781424493241
T3 - 2011 IEEE/ICME International Conference on Complex Medical Engineering, CME 2011
SP - 132
EP - 135
BT - 2011 IEEE/ICME International Conference on Complex Medical Engineering, CME 2011
T2 - 2011 5th IEEE/ICME International Conference on Complex Medical Engineering, CME 2011
Y2 - 22 May 2011 through 25 May 2011
ER -