A surface-matching technique for robot-assisted registration
نویسندگان
چکیده
منابع مشابه
A surface-matching technique for robot-assisted registration.
Successful implementation of robot-assisted surgery (RAS) requires coherent integration of spatial image data with sensing and actuating devices, each having its own coordinate system. Hence, accurate estimation of the geometric relationships between relevant reference frames, known as registration, is a crucial procedure in all RAS applications. The purpose of this paper is to present a new re...
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The ability to accurately register images of patients taken at different times is very important in many medical applications. In most cases, the main reason for registration is to measure changes, and therefore any automatic registration algorithm employed for this task must be able to cope when there are significant differences in the images. In this paper a new algorithm is presented which e...
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Objective: Registration is a critical step, which links the planning and execution phases of most CAS applications. In this procedure the geometric relationships between the patient’s anatomy, the models used for planning and the robotic or sensorized tools employed intrasurgically, are calculated. The registration scheme described in this paper, based on enhanced ICP algorithm, doesn’t need an...
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Robotic systems for computer-assisted surgery involve both tools and techniques that are new to the surgical arena. Registration and immobilization in particular are key problems. Registration is the spatial alignment of the coordinate frames of the robot, an anatomic object (e.g., a bone), and the preoperative plan (a computer model). Immobilization is necessary to maintain that alignment. We ...
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ژورنال
عنوان ژورنال: Computer Aided Surgery
سال: 2001
ISSN: 1092-9088,1097-0150
DOI: 10.1002/igs.10015