Automatic registration and precise tumour localization method for robot‐assisted puncture procedure under inconsistent breath‐holding conditions

• Published in: The international journal of medical robotics + computer assisted surgery Vol. 17; no. 6; pp. e2319 - n/a
• Main Authors: Lei, Long, Tang, Huajie, Zhang, Jiawei, Wu, Yuqi, Zhao, Baoliang, Hu, Ying, Li, Bing
• Format: Journal Article
• Language: English
• Published: Hamilton Wiley Subscription Services, Inc 01.12.2021
• Subjects: Accuracy; Algorithms; automatic registration; Computed tomography; inconsistent breath‐holding conditions; Localization method; Model accuracy; Motion simulation; needle placement; puncture procedure; Registration; Robot dynamics; Support vector machines; Tumors; tumour localization

Background During percutaneous puncture procedure, breath holding is subjectively controlled by patients, and it is difficult to ensure consistent tumour position between the preoperative CT scanning phase and the intraoperative puncture phase. In addition, the manual registration process is time‐co...