MRI Distortion Correction and Robot-to-MRI Scanner Registration for an MRI-Guided Robotic System.
MRI Distortion Correction and Robot-to-MRI Scanner Registration for an MRI-Guided Robotic System.
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DOI：
10.1109/access.2022.3207156
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发表时间：
2022
期刊：
影响因子：
3.9
通讯作者：
Cavusoglu, M. Cenk
中科院分区：
文献类型：
--
作者：
Tuna, E. Erdem;Poirot, Nate Lombard;Franson, Dominique;Bayona, Juana Barrera;Huang, Sherry;Seiberlich, Nicole;Griswold, Mark A.;Cavusoglu, M. Cenk
关键词：
磁共振成像（MRI）引导的机器人程序需要安全的机器人仪器导航和精确的目标定位。这取决于从MR图像对仪器的可靠跟踪，这需要机器人与扫描仪的准确配准。提出了一种新的基于差分图像的机器人与MRI扫描仪配准方法，该方法利用一组有源基准线圈，其中背景减除方法用于线圈检测。为了将所提出的术前配准方法与实时介入手术中的实时高速MRI图像采集和重建方法结合使用，使用自定义失真映射算法分析了机器人中的几何MRI失真对扫描仪配准的影响。所提出的方法是通过一组目标线圈放置在工作空间内，采用多平面扫描仪的能力进行验证。配准和验证误差分别为2.05 mm和2.63 mm后的失真校正，显示出分别为1.08 mm和0.14 mm的改善相比，没有失真校正的结果。
Magnetic resonance imaging (MRI) guided robotic procedures require safe robotic instrument navigation and precise target localization. This depends on reliable tracking of the instrument from MR images, which requires accurate registration of the robot to the scanner. A novel differential image based robot-to-MRI scanner registration approach is proposed that utilizes a set of active fiducial coils, where background subtraction method is employed for coil detection. In order to use the presented preoperative registration approach jointly with the real-time high speed MRI image acquisition and reconstruction methods in real-time interventional procedures, the effects of the geometric MRI distortion in robot to scanner registration is analyzed using a custom distortion mapping algorithm. The proposed approach is validated by a set of target coils placed within the workspace, employing multi-planar capabilities of the scanner. Registration and validation errors are respectively 2.05 mm and 2.63 mm after the distortion correction showing an improvement of respectively 1.08 mm and 0.14 mm compared to the results without distortion correction.
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影响因子：
--
作者：
Dimaio, S. P.;Pieper, S.;Kikins, R.
通讯作者：
Kikins, R.
影响因子：
3.3
作者：
Janke, A;Zhao, HW;Doddrell, DM
通讯作者：
Doddrell, DM
影响因子：
3.3
作者：
Barth M;Breuer F;Koopmans PJ;Norris DG;Poser BA
通讯作者：
Poser BA
DOI：
10.1109/iros45743.2020.9341043
发表时间：
2020-10
期刊：
Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems
影响因子：
--
作者：
Tuna EE;Poirot NL;Bayona JB;Franson D;Huang S;Narvaez J;Seiberlich N;Griswold M;Çavuşoğlu MC
通讯作者：
Çavuşoğlu MC
影响因子：
3.2
作者：
Jafar, Maysam;Jafar, Yassir M.;Miquel, Marc E.
通讯作者：
Miquel, Marc E.