An optical tracker based robot registration and servoing method for ultrasound guided percutaneous renal access

摘要

BackgroundRobot-assisted needle steering facilitates the percutaneous renal access (PRA) for their accuracy and consistency over manual operation. However, inaccurate image-robot correspondence and uncertainties in robot parameters make the needle track deviate from the intrarenal target. This paper aims to simplify the image-tracker-robot registration procedure and improves the accuracy of needle alignment for robot assisted ultrasound-guided PRA.