Image-based guidance system for intravascular microrobot: Fiducial marker-based registration using biplanar fluoroscopic images & CTA images

Jinsik Oh; Jong Oh Park; Sukho Park; Seong Young Ko

doi:10.1109/ICCAS.2015.7364753

Image-based guidance system for intravascular microrobot: Fiducial marker-based registration using biplanar fluoroscopic images & CTA images

Jinsik Oh, Jong Oh Park, Sukho Park, Seong Young Ko

Department of Robotics and Mechatronics Engineering

Chonnam National University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Scopus citations

Abstract

The ultimate goal of this work is to develop an image-based guidance system for a microrobot that treats vascular disease. In the preoperative stage, a computed tomography angiography (CTA) image is taken after fiducial markers are implanted. In order to obtain the position information of the microrobot during surgery, a biplanar fluoroscopic image is used. Fiducial marker-based registration is carried out to measure the relative position between CTA images and X-ray images, and it will be used to obtain the position information of the microrobot. Resultant error of the registration procedure was about 2 mm, and the image-based guidance system for the microrobot will be developed using the proposed algorithm.

Original language	English
Title of host publication	ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	919-922
Number of pages	4
ISBN (Electronic)	9788993215090
DOIs	https://doi.org/10.1109/ICCAS.2015.7364753
State	Published - 23 Dec 2015
Event	15th International Conference on Control, Automation and Systems, ICCAS 2015 - Busan, Korea, Republic of Duration: 13 Oct 2015 → 16 Oct 2015

Publication series

Name	ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings

Conference

Conference	15th International Conference on Control, Automation and Systems, ICCAS 2015
Country/Territory	Korea, Republic of
City	Busan
Period	13/10/15 → 16/10/15

Bibliographical note

Publisher Copyright:
© 2015 Institute of Control, Robotics and Systems - ICROS.

Keywords

Image-based guidance system
Intravascular microrobot
Navigation

Access to Document

10.1109/ICCAS.2015.7364753

Cite this

Oh, J., Park, J. O., Park, S., & Ko, S. Y. (2015). Image-based guidance system for intravascular microrobot: Fiducial marker-based registration using biplanar fluoroscopic images & CTA images. In ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings (pp. 919-922). Article 7364753 (ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCAS.2015.7364753

Oh, Jinsik ; Park, Jong Oh ; Park, Sukho et al. / Image-based guidance system for intravascular microrobot : Fiducial marker-based registration using biplanar fluoroscopic images & CTA images. ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 919-922 (ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings).

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title = "Image-based guidance system for intravascular microrobot: Fiducial marker-based registration using biplanar fluoroscopic images \& CTA images",

abstract = "The ultimate goal of this work is to develop an image-based guidance system for a microrobot that treats vascular disease. In the preoperative stage, a computed tomography angiography (CTA) image is taken after fiducial markers are implanted. In order to obtain the position information of the microrobot during surgery, a biplanar fluoroscopic image is used. Fiducial marker-based registration is carried out to measure the relative position between CTA images and X-ray images, and it will be used to obtain the position information of the microrobot. Resultant error of the registration procedure was about 2 mm, and the image-based guidance system for the microrobot will be developed using the proposed algorithm.",

keywords = "Image-based guidance system, Intravascular microrobot, Navigation",

author = "Jinsik Oh and Park, \{Jong Oh\} and Sukho Park and Ko, \{Seong Young\}",

note = "Publisher Copyright: {\textcopyright} 2015 Institute of Control, Robotics and Systems - ICROS.; 15th International Conference on Control, Automation and Systems, ICCAS 2015 ; Conference date: 13-10-2015 Through 16-10-2015",

year = "2015",

month = dec,

day = "23",

doi = "10.1109/ICCAS.2015.7364753",

language = "English",

series = "ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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Oh, J, Park, JO, Park, S & Ko, SY 2015, Image-based guidance system for intravascular microrobot: Fiducial marker-based registration using biplanar fluoroscopic images & CTA images. in ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings., 7364753, ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings, Institute of Electrical and Electronics Engineers Inc., pp. 919-922, 15th International Conference on Control, Automation and Systems, ICCAS 2015, Busan, Korea, Republic of, 13/10/15. https://doi.org/10.1109/ICCAS.2015.7364753

Image-based guidance system for intravascular microrobot: Fiducial marker-based registration using biplanar fluoroscopic images & CTA images. / Oh, Jinsik; Park, Jong Oh; Park, Sukho et al.
ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings. Institute of Electrical and Electronics Engineers Inc., 2015. p. 919-922 7364753 (ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - The ultimate goal of this work is to develop an image-based guidance system for a microrobot that treats vascular disease. In the preoperative stage, a computed tomography angiography (CTA) image is taken after fiducial markers are implanted. In order to obtain the position information of the microrobot during surgery, a biplanar fluoroscopic image is used. Fiducial marker-based registration is carried out to measure the relative position between CTA images and X-ray images, and it will be used to obtain the position information of the microrobot. Resultant error of the registration procedure was about 2 mm, and the image-based guidance system for the microrobot will be developed using the proposed algorithm.

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KW - Intravascular microrobot

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Oh J, Park JO, Park S, Ko SY. Image-based guidance system for intravascular microrobot: Fiducial marker-based registration using biplanar fluoroscopic images & CTA images. In ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings. Institute of Electrical and Electronics Engineers Inc. 2015. p. 919-922. 7364753. (ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings). doi: 10.1109/ICCAS.2015.7364753

Image-based guidance system for intravascular microrobot: Fiducial marker-based registration using biplanar fluoroscopic images & CTA images

Abstract

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Keywords

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