Abstract
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 language | English |
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Title of host publication | 2006 9th International Conference on Information Fusion, FUSION |
DOIs | |
Publication status | Published - 1 Dec 2006 |
Externally published | Yes |
Event | International Conference on Information Fusion 2006 - Florence, Italy Duration: 10 Jul 2006 → 13 Jul 2006 Conference number: 9th https://ieeexplore.ieee.org/xpl/conhome/4085846/proceeding (Proceedings) |
Conference
Conference | International Conference on Information Fusion 2006 |
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Abbreviated title | FUSION 2006 |
Country/Territory | Italy |
City | Florence |
Period | 10/07/06 → 13/07/06 |
Internet address |
Keywords
- Image guided surgery
- Image registration
- Non-invasive sensing
- Tracking