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Title:

3D Ultrasound Registration-based Visual Servoing for Neurosurgical Navigation

Document type:
Zeitschriftenaufsatz
Author(s):
Zettinig, O.; Frisch, B.; Virga, S.; Esposito, M.; Rienmüller, A.; Meyer, B.; Hennersperger, C.; Ryang, Y.-M.; Navab, N.
Abstract:
Purpose: 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. Method: 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-t...     »
Keywords:
CAMP,Framework,Software,Robotics,Ultrasound,RoBildOR,Servoing,IFL
Journal title:
International Journal of Computer Assisted Radiology and Surgery
Year:
2017
Journal volume:
in press
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