Neurosurgical Robotic Guidance System using Visual Servoing

Title
Neurosurgical Robotic Guidance System using Visual Servoing
Authors
이득희임성환조현철신상균박세형
Keywords
Robotic guidance; Visual servo
Issue Date
2014-06
Publisher
ACCAS2014
Abstract
Many neurosurgical procedures including intracerebral hemorrhage (ICH) removals and deep brain stimulations (DBS) usually use stereotactic frames in order to accurately access pre-planned target regions. Stereotactic frames are fixed on patients’ skulls invasively. Additional CT or MR scans are required for the registration of the target regions in the stereotactic frames. In this paper, we propose new guiding system to access target regions accurately in the manners of non-invasive and non-ionizing methods. In this system, pre-operative planning is done under 3D reconstructive patient model. A face registration method between the 3D pre-operative models and face scan data of intra-operative patients has been implemented using ICP (Iterative Closest Points) algorithm. Then visual servo control methods are applied for the positioning of the guiding robot. In-vitro phantom experiments have shown the usability of this system. In conclusion, the developed system has the advantages of being non-invasive, a short total operation time, and low radiation exposure compared to conventional ICH surgery.
URI
http://pubs.kist.re.kr/handle/201004/47857
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KIST Publication > Conference Paper
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