Abstract
This paper presents an efficient method to realize space registration in percutaneous robot-assisted lung cancer cryosurgery guided by Computer Tomography (CT). Based on the positions of the fiducial markers on patient’s body, the space registration is established to transform the surgical plan on preoperatively taken images to robot space to compute robot commands. To overcome limitations of using other media to position markers, an optical tracking system using visible light is adopted in this paper. Markers are designed to be identified by both the CT and the tracking system. Through experiments, the accuracy of the registration can satisfy the clinical requirement. Compared to previous methods, the method takes much less time and simplifies the manipulation of the registration process.