Int J CARS (2017) 12:1607–1619 DOI 10.1007/s11548-017-1536-2 ORIGINAL ARTICLE 3D ultrasound registration-based visual servoing for neurosurgical navigation 1,2 1,2 1,2 1,2 Oliver Zettinig · Benjamin Frisch · Salvatore Virga · Marco Esposito · 3,4 3 1,2 Anna Rienmüller · Bernhard Meyer · Christoph Hennersperger · 3 1,2 Yu-Mi Ryang · Nassir Navab Received: 4 November 2016 / Accepted: 1 February 2017 / Published online: 24 February 2017 © CARS 2017 Abstract 3D sweeps, we achieved direction-independent positioning ◦ ◦ Purpose We present a fully image-based visual servoing errors of 0.35±0.19 mm and 0.61 ±0.45 , respectively. Our framework for neurosurgical navigation and needle guidance. method is capable of compensating movements of around The proposed servo-control scheme allows for compensation 25 mm/s and works reliably on human anatomy with errors of target anatomy movements, maintaining high navigational of 1.45 ± 0.78 mm. In all four manual insertions by an expert accuracy over time, and automatic needle guide alignment for surgeon, a needle could be successfully inserted into the facet accurate manual insertions. joint, with an estimated targeting accuracy of 1.33±0.33 mm, Method Our system comprises a motorized 3D ultrasound superior to the gold standard. (US) transducer mounted on a robotic
International Journal of Computer Assisted Radiology and Surgery – Springer Journals
Published: Feb 24, 2017
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