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Title:

3D ultrasound registration-based visual servoing for neurosurgical navigation.

Document type:
Journal Article
Author(s):
Zettinig, Oliver; Frisch, Benjamin; Virga, Salvatore; Esposito, Marco; Rienmüller, Anna; Meyer, Bernhard; Hennersperger, Christoph; Ryang, Yu-Mi; Navab, Nassir
Abstract:
We present a fully image-based visual servoing framework for neurosurgical navigation and needle guidance. The proposed servo-control scheme allows for compensation of target anatomy movements, maintaining high navigational accuracy over time, and automatic needle guide alignment for accurate manual insertions.Our system comprises a motorized 3D ultrasound (US) transducer mounted on a robotic arm and equipped with a needle guide. It continuously registers US sweeps in real time with a pre-interv...     »
Journal title abbreviation:
Int J Comput Assist Radiol Surg
Year:
2017
Journal volume:
12
Journal issue:
9
Pages contribution:
1607-1619
Language:
eng
Fulltext / DOI:
doi:10.1007/s11548-017-1536-2
Pubmed ID:
http://view.ncbi.nlm.nih.gov/pubmed/28236117
Print-ISSN:
1861-6410
TUM Institution:
Neurochirurgische Klinik und Poliklinik
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