Abstract
The traditional space mapping and surgical planning method for surgery are time-consuming, and the accuracy of positioning is not high. This paper aims to present a practical and fast way for planning. In the session of visual orientation for spatial location, MicronTracker camera and self-calibration template are used for positioning; in the session of tracking and locating for four markers on patient and robot’s template, the coordinates of them are extracted automatically; in the session of DICOM medical image processing, the contour of the tumor is extracted automatically, in terms of the seed filling algorithm, contour tracking algorithm and the B-spline fitting function. Coordinates transformation from the image space to the camera space and to the robot space can be completed rapidly and precisely through this method. Experimental results show that the traditional from 25 to 30 minutes planning time for the entire operation can be reduced to 5 minutes; the space mapping accuracy can be improved from the traditional 5mm to 4mm now.
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Cheng, Y., Gong, C., Tang, C., Zhang, J., Cheng, S. (2010). Rapid Planning Method for Robot Assited Minimally Invasive Surgery. In: Li, K., Jia, L., Sun, X., Fei, M., Irwin, G.W. (eds) Life System Modeling and Intelligent Computing. ICSEE LSMS 2010 2010. Lecture Notes in Computer Science(), vol 6330. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-15615-1_62
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DOI: https://doi.org/10.1007/978-3-642-15615-1_62
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