A Calibration Method of Needle Holder for Surgical Navigation

YANG Yi-fan; XIE Xiang; LI Guo-lin

Chinese

您当前的位置：

首页 >

文章列表页 >

A Calibration Method of Needle Holder for Surgical Navigation

更新时间：2026-09-04

- A Calibration Method of Needle Holder for Surgical Navigation
- Vol. 33, Issue 10, Pages: 125-129(2016)
- 作者机构：
  
  1. 清华大学微电子与纳电子学系,北京,100084
  2. 清华大学电子工程系,北京,100084
- 作者简介：
- 基金信息：
- DOI：
  CLC：
- Published：2016
- 稿件说明：
移动端阅览
杨一帆, 谢翔, 李国林. 一种用于手术导航的持针器械校正方法[J]. 微电子学与计算机, 2016, 33(10): 125-129.

YANG Yi-fan, XIE Xiang, LI Guo-lin. A Calibration Method of Needle Holder for Surgical Navigation[J]. 2016, 33(10): 125-129.
杨一帆, 谢翔, 李国林. 一种用于手术导航的持针器械校正方法[J]. 微电子学与计算机, 2016, 33(10): 125-129. DOI：

YANG Yi-fan, XIE Xiang, LI Guo-lin. A Calibration Method of Needle Holder for Surgical Navigation[J]. 2016, 33(10): 125-129. DOI：

摘要

为了降低肺癌等疾病的发病率和死亡率，早期诊断与治疗是关键环节.对发病部位(如胸腔内组织)进行扎针活检和治疗是常见的诊疗手段.为解决医生用手直接控制扎针精度低导致重复手术概率大的问题，需要设计一种高精度手术导航系统.手术导航系统运作的前提是系统中各构件间相对位置的校正.对此提出了基于可见光标记物的系统校正方法，实现了手术针、机械手以及双摄像头之间空间相对位置的校正，为后续手术导航奠定参数基础.实验数据表明，针尖的校正误差为1.37 mm，针姿态校正误差为0.62°，满足经皮胸腔手术的下针需求.

Abstract

In order to reduce diseases (such as lung cancer) incidence and mortality

a key work is early diagnosis and treatment

in which an acupuncture treatment biopsy is a common means of treatment. To solve the low accuracy and high probability of repeat surgery caused by manpower acupuncture

we need to design a high precision surgical navigation system. Before the system can be used

the relative positions of the system component should be calibrated. To calibrate the relative positions between needle

robotic arm and binocular stereo vision for subsequent surgical navigation

this paper proposes a system calibration method based on visible markers. According to the experimental result

the needle tip calibration error is 1.37mm with an attitude error of 0.62°

which meet the accuracy of thoracic surgery.

关键词

Keywords

references

Yang R, Wang Z, Liu S, et al. Design of an accurate near infrared optical tracking system in surgical navigation[J]. Lightwave Technology, Journal of, 2013, 31(2): 223-231. DOI: 223

Treepong B, Tanaiutchawoot N, Wiratkapun C, et al. On the design and development of a breast biopsy navigation system: path generation algorithm and system with its GUI evaluation[C]//Biomedical and Health Informatics (BHI), 2014 IEEE-EMBS International Conference on. [s. l. ]: IEEE, 2014: 273-276.

Bootsma G J, Siewerdsen J H, Daly M J, et al. Initial investigation of an automatic registration algorithm for surgical navigation[C]//Engineering in Medicine and Biology Society, 30th Annual International Conference of the IEEE. Washington, DC, USA: IEEE, 2008: 3638-3642.

Moré J J. The levenberg-marquardt algorithm: implementation and theory[M]. Numerical analysis. Springer Berlin Heidelberg, 1978: 105-116.

Naghavi M, Wang H, Lozano R, et al. Global, regional, and national age-sex specific all-cause and cause-specific mortality for 240 causes of death, 1990-2013: a systematic analysis for the Global Burden of Disease Study 2013[J]. Lancet, 2015, 385(9963): 117-171. DOI: 117

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

A review of surface defect detection of electronic components based on computer vision

Parallel Classification of Image Processing Program Based on LLVM Architecture

A Fast Algorithm for Computing the Euler Number in a Binary Image

An Improved Total Variation for Image Denoising Based on Compressed Sensing

A Fast Lane Detection Method Based on the Progressive Probabilistic Hough Transform

Related Author

CHAI Bo

LI Ling

LIU Xi

YANG Liang

MAO Yuanhong

WANG Shi-yu

BAI Hong-you

HUANG Xiao-ping

Related Institution

Xi'an Microelectronics Technology Institute

School of Computer Science and Engineering, Northwestern Polytechnical University

College of Electrical and Information Engineering, Shaanxi Univ. of Science and Technology

Faculty of Information Science and Technology, Aichi Prefectural Univ.

School of Computer Science, Xianyang Normal Univ.

AI问答

Postal code：100079
Tel：（010）53879206 Email：tmw@bjxintong.com.cn
Technical support is provided by Beijing Founder electronics co., LTD 京ICP备09082226号-64 京公网安备11010602201714号
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰