Particle Filter Based Active Localization of Target and Needle in Robotic Image-Guided Intervention Systems.
Particle Filter Based Active Localization of Target and Needle in Robotic Image-Guided Intervention Systems.
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DOI：
10.1109/coase.2013.6653938
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发表时间：
2013-08-01
期刊：
影响因子：
--
通讯作者：
Cavusoglu, M Cenk
中科院分区：
文献类型：
--
作者：
Renfrew, Mark;Bai, Zhuofu;Cavusoglu, M Cenk
本文提出了一种机器人图像引导介入手术中主动定位针和目标的概率方法。具体地，主动定位场景，其中系统直接控制成像系统以使用术中医学成像（例如，计算机断层扫描和超声成像）进行了探索。在所提出的方法中，主动定位问题是作为一个信息最大化问题，其中的信念针和目标状态表示和估计使用粒子滤波器。所提出的方法也验证了使用模拟研究。
This paper presents a probabilistic method for active localization of needle and targets in robotic image guided interventions. Specifically, an active localization scenario where the system directly controls the imaging system to actively localize the needle and target locations using intra-operative medical imaging (e.g., computerized tomography and ultrasound imaging) is explored. In the proposed method, the active localization problem is posed as an information maximization problem, where the beliefs for the needle and target states are represented and estimated using particle filters. The proposed method is also validated using a simulation study.