Robot-to-image Registration with Geometric Marker for CT-guided Robotic Needle Insertion
Iori Ikeda Kai Sekine Ryosuke Tsumura Hiroyasu Iwata Iori Ikeda Kai Sekine Ryosuke Tsumura Hiroyasu Iwata
A computed tomography (CT)-guided robotic needle requires registration to transfer coordinates between the robot and CT image for accurate insertion. In our previous work, we proposed a geometric marker that allows direct registration between a CT image and robot and demonstrated its proof of concept. In this paper, we present a registration algorithm for calculating the six-degrees-of-freedom err...