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首页> 外文会议>IEEE International Symposium on Biomedical Imaging >REGISTRATION OF THREE-DIMENSIONAL HIGH-FREQUENCY ULTRASOUND IMAGES TO A ROBOTIC NEEDLE-POSITIONING SYSTEM FOR PRE-CLINICAL RESEARCH
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REGISTRATION OF THREE-DIMENSIONAL HIGH-FREQUENCY ULTRASOUND IMAGES TO A ROBOTIC NEEDLE-POSITIONING SYSTEM FOR PRE-CLINICAL RESEARCH

机译：三维高频超声图像对临床研究的机器人针定位系统的登记

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摘要

A needle-positioning robot has been developed for high-frequency ultrasound guided interventions into mouse models. In order for the robot to reach targets identified in ultrasound accurately, the robot and ultrasound image coordinate systems must be registered. Registration is accomplished by attaching a phantom, which contains 280 μm diameter fiducials, onto the robot end-effector. The positions of the fiducials with respect to the needle were measured using micro-CT to determine the location of the fiducials in robot coordinates. The fiducial positions were also located in ultrasound coordinates. Point-based rigid-body and affine transformations were calculated between the two coordinate systems. For the rigid-body transformation, the target registration error (TRE) was 74 μm. For the affine transformation, the TRE was 56 μm. The smaller TRE of the affine registration will reduce the overall error of performing image-guided interventions in mice compared to using a rigid-body registration.
机译：已经开发了针定位机器人，用于高频超声引导干预到小鼠模型中。为了使机器人准确地达到超声中识别的目标，必须注册机器人和超声图像坐标系。注册是通过将包含280μm直径基准的虚线连接到机器人末端效应子上完成。使用Micro-CT测量针对针对针的基因的位置，以确定机器人坐标中基准的位置。基准位置也位于超声坐标。基于点的刚体和仿射变换在两个坐标系之间计算。对于刚体转换，目标登记误差（TRE）为74μm。对于仿射转换，TRE为56μm。与使用刚体注册相比，仿射注册的较小TRE将减少对小鼠进行图像引导干预的总体误差。

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