Computer Science ›› 2019, Vol. 46 ›› Issue (11A): 320-323.

• Pattern Recognition & Image Processing • Previous Articles     Next Articles

Robot Aided Lung Biopsy Positioning Mechanism Based on CT Image Guidance

LI Bo, KANG Xiao-dong, GAO Wan-chun, HONG Rui, WANG Ya-ge, ZHANG Hua-li   

  1. (School of Medical Imaging,Tianjin Medical University,Tianjin 300203,China)
  • Online:2019-11-10 Published:2019-11-20

Abstract: A new spatial localization mechanism based on CT image-guided robot-assisted percutaneous lung biopsy was proposed.Firstly,six marker points are designed and fixed on the CT examination bed at the same time to reference and locate in hardware.Secondly,the improved D-H inverse motion algorithm is used in software to guide the robot to perform percutaneous lung puncture.The simulation results show that the success rate of one-time puncture can be effectively guaranteed by using the location mechanism proposed in this paper.

Key words: Robot assistant system, D-H inverse motion algorithm, Percutaneous lung biopsy

CLC Number: 

  • TP242
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