Automatic Registration and Precise Tumor Localization Method for Robot‐assisted Puncture Procedure under Inconsistent Breath‐holding Conditions

xlomafota13 shared this article with you from Inoreader Automatic Registration and Precise Tumor Localization Method for Robot‐assisted Puncture Procedure under Inconsistent Breath‐holding Conditions Via The International Journal of Medical Robotics and Computer Assisted Surgery Abstract Background During percutaneous puncture procedure, breath holding is subjectively controlled by patients, and it is difficult to ensure consistent tumor position between the preoperative CT scanning phase and the intraoperative puncture phase. In addition, the manual registration process is time-consuming and has low accuracy. Methods We have proposed an automatic registration method using optical markers and a tumor breath-holding position estimation model based on the support vector regression algorithm. A robot system and a tumor respiratory motion simulation platform are built to perform puncture tests under different breath-holding states. Results The experimental results show that automatic registration has higher accuracy than manual registration, and with the tumor breath-holding position estimation model, the targeting accuracy of puncture under inconsistent breath-holding conditions is greatly improved. Conclusions The proposed automatic registration and tumor breath-holding position estimation model can improve the accuracy and efficiency of puncture under inconsistent breath-holding conditions. This article is protected by copyright. All rights reserved. View on the web Inoreader. Take back control of your news feed. Follow us on Twitter and Facebook.