An automatic markerless registration method for neurosurgical robotics based on an optical camera

International Journal of Computer Assisted Radiology and Surgery
Fanle MengGuangzhi Wang

Abstract

Current markerless registration methods for neurosurgical robotics use the facial surface to match the robot space with the image space, and acquisition of the facial surface usually requires manual interaction and constrains the patient to a supine position. To overcome these drawbacks, we propose a registration method that is automatic and does not constrain patient position. An optical camera attached to the robot end effector captures images around the patient's head from multiple views. Then, high coverage of the head surface is reconstructed from the images through multi-view stereo vision. Since the acquired head surface point cloud contains color information, a specific mark that is manually drawn on the patient's head prior to the capture procedure can be extracted to automatically accomplish coarse registration rather than using facial anatomic landmarks. Then, fine registration is achieved by registering the high coverage of the head surface without relying solely on the facial region, thus eliminating patient position constraints. The head surface was acquired by the camera with a good repeatability accuracy. The average target registration error of 8 different patient positions measured with targets inside a head p...Continue Reading

References

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May 24, 2007·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·T R K Varma, P Eldridge
Apr 28, 2009·Journal of Neurosurgery·Reuben R ShamirYigal Shoshan
Jun 19, 2010·IEEE Transactions on Pattern Analysis and Machine Intelligence·Yasutaka Furukawa, Jean Ponce
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Oct 11, 2011·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Jun WeiDa Liu
Dec 8, 2011·Computer Aided Surgery : Official Journal of the International Society for Computer Aided Surgery·Georg J LedderoseKlaus Stelter
Mar 13, 2012·Journal of Neurosurgery·Kimon BekelisDavid W Roberts
Mar 25, 2014·IEEE Transactions on Bio-medical Engineering·Junchen WangHongen Liao
Nov 8, 2014·Journal of Neurosurgery·Michel LefrancJohann Peltier
Jul 1, 2017·International Journal of Computer Assisted Radiology and Surgery·Bowei ZengGuangzhi Wang

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Citations

Mar 13, 2020·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Abhishek KaushikGaurav Bhutani
Jan 10, 2021·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Nitish MaharjanTarik A Rashid
May 25, 2021·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Georgios NarosMarcos Tatagiba
May 27, 2021·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Kathrin MachetanzGeorgios Naros

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