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Automatic registration and precise tumour localization method for robot-assisted puncture procedure under
Long Lei1,2, Huajie Tang1,2, Jiawei Zhang3
1Department of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen, China.
Summary
This study introduces an automatic registration method using optical markers and a tumor breath-holding position estimation model. This approach enhances puncture accuracy and efficiency, especially when breath-holding conditions vary between scans.
Area of Science:
- Medical Robotics
- Image-Guided Therapy
- Computational Biology
Background:
- Percutaneous puncture accuracy is challenged by patient-controlled breath holding, leading to inconsistent tumor positioning between preoperative CT and intraoperative procedures.
- Manual registration methods are time-consuming and lack precision, impacting procedural outcomes.
Purpose of the Study:
- To develop and evaluate an automatic registration method for percutaneous puncture.
- To improve targeting accuracy and efficiency under varying breath-holding conditions.
Main Methods:
- An automatic registration technique utilizing optical markers and a support vector regression-based tumor breath-holding position estimation model was developed.
- A robot system and a tumor respiratory motion simulation platform were employed for testing under diverse breath-holding states.
Main Results:
- The proposed automatic registration method demonstrated superior accuracy compared to manual registration.
- The tumor breath-holding position estimation model significantly enhanced puncture targeting accuracy in the presence of inconsistent breath-holding.
Conclusions:
- The developed automatic registration and tumor breath-holding position estimation model effectively improves accuracy and efficiency for percutaneous puncture procedures.
- This method addresses the challenge of inconsistent breath-holding, offering a more reliable approach for image-guided interventions.
