Image acquisition and data fusion for planning and feedback during image guided surgery

S. Chauhan

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This paper presents fusion of real-time images and data from various sensors for on-line surgical planning as integrated in a non-invasive surgical robotic system. High Intensity Focused Ultrasound (HIFU) is used as a treatment modality while on-line images are acquired using diagnostic ultrasound and registered with the proprioceptive sensors of a customized robotic system for ablative procedures. As temperature is a crux parameter in thermotherapy and ablative systems, thermal data is captured using external sensors and fused with real-time images for the purpose of dosage planning and surgical monitoring. A lesion tracking algorithm is developed to track the position of lesions. This position is registered with therma- map superimposed on intra-operative images. The methodologies of lesion tracking and thermal mapping are described.

Original languageEnglish
Title of host publication2006 9th International Conference on Information Fusion, FUSION
Publication statusPublished - 1 Dec 2006
Externally publishedYes
EventInternational Conference on Information Fusion 2006 - Florence, Italy
Duration: 10 Jul 200613 Jul 2006
Conference number: 9th (Proceedings)


ConferenceInternational Conference on Information Fusion 2006
Abbreviated titleFUSION 2006
Internet address


  • Image guided surgery
  • Image registration
  • Non-invasive sensing
  • Tracking

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