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首页> 外文会议>2001 IEEE International Solid-State Circuits Conference, 2001. ISSCC, 2001 >Software design of transperineal prostate needle biopsy robot
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Software design of transperineal prostate needle biopsy robot

机译：经会阴前列腺穿刺活检机器人的软件设计

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This paper focuses on introducing the software design of a robotic system for accurate and consistent insertion of a percutaneous biopsy needle into the prostate guided by transrectal ultrasound images. A set of software modules in the main computer system is designed to guide the urologist to control the biopsy robot and biopsy process. This system functionally undertakes the control of image acquisition, interaction with the urologist for prostate boundary delineation, puncture point planning and biopsy point definition on 2D image (ultrasound) slices. 3D visualization of the prostate surface, needle, biopsy point and needle trajectory is also performed by the software. The system calculates the required parameters of the needle's trajectory and guides the urologist in maneuvering the robot to perform the biopsy. System performance and experimental results are presented at the end.
机译：本文着重介绍机器人系统的软件设计，以通过经直肠超声图像将经皮穿刺活检针准确一致地插入前列腺。主计算机系统中的一组软件模块旨在引导泌尿科医生控制活检机器人和活检过程。该系统在功能上进行图像采集的控制，与泌尿科医师的交互以进行前列腺边界描绘，穿刺点规划和2D图像（超声）切片的活检点定义。该软件还可以对前列腺表面，针头，活检点和针头轨迹进行3D可视化。该系统计算出所需的针头轨迹参数，并指导泌尿科医师操纵机器人进行活检。最后介绍了系统性能和实验结果。

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