A Mechanism-Image Fusion Approach to Calibration of an Ultrasound-Guided Dual-Arm Robotic Brachytherapy System

Xiong, Jing; Xu, Changfu; Ibrahim, Khalil; Deng, Hao; Xia, Zeyang

doi:10.1109/tmech.2021.3055902

Cited by 10 publications

(1 citation statement)

References 37 publications

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“…Dai et al [ 12 ] divides the brachytherapy robotic system into four categories with respect to the imaging method used: ultrasound (US)-guided systems [ 13 , 14 , 15 , 16 ], MRI-guided systems [ 17 , 18 , 19 ], CT-guided systems [ 20 , 21 , 22 , 23 ] and additional image-guided systems [ 24 , 25 , 26 , 27 ]. Lin et al [ 28 ] proposes a multi-DoF (Degrees of Freedom) robotic system for liver brachytherapy.…”

Section: Introductionmentioning

confidence: 99%

Design and Experimental Setup of a Robotic Medical Instrument for Brachytherapy in Non-Resectable Liver Tumors

Tucan

Vaida

Horvath

et al. 2022

Cancers

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This paper presents a study regarding the design and the experimental setup of a medical robotic system for brachytherapy using tribology analysis. The robotic system is composed of a collaborative robotic arm and a multi-needle brachytherapy instrument controlled using a unified control system embedding a haptic device and force-feedback. This work is oriented towards identifying the technical characteristics of the system components to determine the accuracy of the procedure, as well as using different scenarios for needle insertion in ex vivo porcine liver tissue in order to determine the forces required for insertion and extraction of the needle and the friction coefficient that accompanies the previously mentioned forces. Subsequent to the computation of the friction forces, the normal forces and the wear during the needle insertion are determined with the scope of predicting the lifecycle of some components of the medical device.

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Section: Introductionmentioning

confidence: 99%

Design and Experimental Setup of a Robotic Medical Instrument for Brachytherapy in Non-Resectable Liver Tumors

Tucan

Vaida

Horvath

et al. 2022

Cancers

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Fast Calibration for Ultrasound Imaging Guidance Based on Depth Camera

Zhao,

Li,

et al. 2023

Lecture Notes in Computer Science

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Calibration method for a breast intervention robot based on four-dimensional ultrasound image guidance

et al. 2022

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In breast interventional ultrasound therapy, it is difficult to directly diagnose the location of a tumor in 2-D ultrasound images. To assist surgeons in treatment more intuitively, a four-dimensional ultrasound image-guided breast intervention robot is proposed. The calibration approach of the ultrasonic image for the robot is one of the main contents of the research. This method is based on the establishment of a complete coordinate system conversion model, and it uses the ORB (oriented FAST and rotated BRIEF) feature extraction method to obtain and record the real-time image marker pixel positions, calculate the unknown parameters of the coordinate system conversion matrix, and establish a complete calibration system. This article demonstrates the feasibility of the calibration approach through experiments in our developed US-guided robotic system. Additional experimental and parametrical comparisons of the proposed method with state-of-the-art methods were conducted to thoroughly evaluate the outperformance of the proposed method.

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A Mechanism-Image Fusion Approach to Calibration of an Ultrasound-Guided Dual-Arm Robotic Brachytherapy System

Cited by 10 publications

References 37 publications

Design and Experimental Setup of a Robotic Medical Instrument for Brachytherapy in Non-Resectable Liver Tumors

Design and Experimental Setup of a Robotic Medical Instrument for Brachytherapy in Non-Resectable Liver Tumors

Fast Calibration for Ultrasound Imaging Guidance Based on Depth Camera

Calibration method for a breast intervention robot based on four-dimensional ultrasound image guidance

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