TY - GEN
T1 - Catheter localization for vascular interventional robot with conventional single C-arm
AU - Zhang, Jun
AU - Meng, Cai
AU - Ma, Yao
AU - Liu, Bo
AU - Zhou, Fugen
PY - 2011
Y1 - 2011
N2 - Usually image correction and system calibration are basic tasks for using conventional XRII C-arm to navigate medical robot in surgery. In traditional way, they are separated as two steps. In this paper, we look upon C-arm as a non-linear camera, thus it is calibrated with non-linear camera model. After calibration, the C-arm image can be corrected with the camera distortion model. The special calibration phantom design and the technique for automatic calibration are addressed. For vessel reconstruction and catheter localization, epipolar geometry constraint plays an important role in searching for corresponding point. We present a technique to find the epipolar constraint automatically. With epipolar, the vessel and catheter are reconstructed. At last, these techniques are applied to a VIR. The experiment results show that it is valid to locate catheter.
AB - Usually image correction and system calibration are basic tasks for using conventional XRII C-arm to navigate medical robot in surgery. In traditional way, they are separated as two steps. In this paper, we look upon C-arm as a non-linear camera, thus it is calibrated with non-linear camera model. After calibration, the C-arm image can be corrected with the camera distortion model. The special calibration phantom design and the technique for automatic calibration are addressed. For vessel reconstruction and catheter localization, epipolar geometry constraint plays an important role in searching for corresponding point. We present a technique to find the epipolar constraint automatically. With epipolar, the vessel and catheter are reconstructed. At last, these techniques are applied to a VIR. The experiment results show that it is valid to locate catheter.
KW - image navigation
KW - minimally invasive surgery
KW - surgical robot
KW - three-dimensional reconstruction
KW - vascular intervention
UR - http://www.scopus.com/inward/record.url?scp=79959968624&partnerID=8YFLogxK
U2 - 10.1109/ICCME.2011.5876724
DO - 10.1109/ICCME.2011.5876724
M3 - Conference contribution
AN - SCOPUS:79959968624
SN - 9781424493241
T3 - 2011 IEEE/ICME International Conference on Complex Medical Engineering, CME 2011
SP - 159
EP - 164
BT - 2011 IEEE/ICME International Conference on Complex Medical Engineering, CME 2011
T2 - 2011 5th IEEE/ICME International Conference on Complex Medical Engineering, CME 2011
Y2 - 22 May 2011 through 25 May 2011
ER -