Automatic registration and precise tumour localization method for robot-assisted puncture procedure under inconsistent breath-holding conditions.

Journal: The international journal of medical robotics + computer assisted surgery : MRCAS
Published Date: Aug 25, 2021

Abstract

BACKGROUND: During percutaneous puncture procedure, breath holding is subjectively controlled by patients, and it is difficult to ensure consistent tumour position between the preoperative CT scanning phase and the intraoperative puncture phase. In addition, the manual registration process is time-consuming and has low accuracy.

Authors

  • Long Lei
    Department of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China.
  • Huajie Tang
    Department of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China.
  • Jiawei Zhang
    a Department of Pharmacy , Special Drugs R&D Center of People's Armed Police Forces , Logistics University of Chinese People's Armed Police Forces , Tianjin , China.
  • Yuqi Wu
    Department of Electrical and Computer Engineering, University of Alberta, Edmonton, AB, T6G 2R3, Canada.
  • Baoliang Zhao
    Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences , Shenzhen , China.
  • Ying Hu
    Department of Ultrasonography, The First Affiliated Hospital, College of Medicine, Zhejiang University, Qingchun Road No. 79, Hangzhou, Zhejiang 310003, China.
  • Bing Li

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