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This paper proposed a needle insertion robotic system for ultrasound guided hepatic microwave coagulation. The system includes a needle insertion robot, a pose tracking device and a surgical planning subsystem composed of pre-operative module and intra-operative module. One unique contribution of the system is real-time prediction of the microwave thermal field distribution generated by the needle's...
The goal of this paper is to establish the error propagation model of the ultrasound-guided robot for liver cancer coagulation therapy, which consists of ultrasound machine, image-guided software subsystem, position tracking unit and needle-driven robot. The target of tumor is transformed to robot coordinate frame to let the robot move to the target. The transformation includes three dimension ultrasound...
We have developed a new method, called 2D flow index mapping (2D-FIM), for quantitative imaging of functional hemodynamic indices, such as resistive index (RI), by retrospective analysis of power Doppler flow waveforms from one complete cardiac cycle. To evaluate this method, a feasibility study was performed in renal transplant patients undergoing routine duplex examination and normal volunteers...
Ultrasound images have been employed in guiding clinical interventional therapy procedures for liver tumor. However, segmenting liver tumor in the ultrasound images presents a unique challenge because of the low-contrast objects in the noisy image. Snakes, or active contours have had limited success in such noisy and complex image. In this paper, an adaptive level set method is proposed, which combines...
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