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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 
Title:
3D ultrasound registration-based visual servoing for neurosurgical navigation. 
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:
Pages contribution:
1607-1619 
Language:
eng 
Print-ISSN:
1861-6410 
TUM Institution:
Neurochirurgische Klinik und Poliklinik