A spatial registration method for navigation system combining O-arm with spinal surgery robot

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	A spatial registration method for navigation system combining O-arm with spinal surgery robot
	Song GL(宋国立)1 ; Zhao YW(赵忆文)1 ; Liu XZ(刘晓壮)1,2; Jiang YX(姜运祥)1 ; Bai H(白华)1,2
	2017
会议日期	December 2-4, 2017
会议地点	St Petersburg, RUSSIA
页码	1-7
英文摘要	The minimally invasive surgery in spinal surgery has become increasingly popular in recent years as it reduces the chances of complications during post-operation. However, the procedure of spinal surgery is complicated and the surgical vision of minimally invasive surgery is limited. In order to increase the quality of percutaneous pedicle screw placement, the O-arm that is a mobile intraoperative imaging system is used to assist surgery. The robot navigation system combined with O-arm is also increasing, with the extensive use of O-arm. One of the major problems in the surgical navigation system is to associate the patient space with the intra-operation image space. This study proposes a spatial registration method of spinal surgical robot navigation system, which uses the O-arm to scan a calibration phantom with metal calibration spheres. First, the metal artifacts were reduced in the CT slices and then the circles in the images based on the moments invariant could be identified. Further, the position of the calibration sphere in the image space was obtained. Moreover, the registration matrix is obtained based on the ICP algorithm. Finally, the position error is calculated to verify the feasibility and accuracy of the registration method.
产权排序	1
会议录	6TH INTERNATIONAL CONFERENCE ON MECHATRONICS AND CONTROL ENGINEERING (ICMCE 2017)
会议录出版者	IOP PUBLISHING LTD
会议录出版地	BRISTOL, ENGLAND
语种	英语
ISSN号	1742-6588
WOS记录号	WOS:000446926700006
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/23431]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Song GL(宋国立)
作者单位	1.Shenyang Institute of Automation, Chinese Academy of Sciences, China 2.Northeastern University, China
推荐引用方式 GB/T 7714	Song GL,Zhao YW,Liu XZ,et al. A spatial registration method for navigation system combining O-arm with spinal surgery robot[C]. 见:. St Petersburg, RUSSIA. December 2-4, 2017.