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Patient Motion Tracking in the Presence of Measurement Errors
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The primary aim of computer-integrated surgical systems is to provide physicians with superior surgical tools for better patient outcome. Robotic technology is capable of both minimally invasive surgery and microsurgery, offering remarkable advantages for the surgeon and the patient. Current systems allow for sub-millimeter intraoperative spatial positioning, however certain limitations still remain. Measurement noise and the unintended changes in the operating room environment can result in major errors. Positioning errors are a significant danger to patients in procedures involving robots and other automated devices. We have developed a new robotic system at the Johns Hopkins University to support cranial drilling in neurosurgery procedures. The robot provides advanced visualization and safety features. The generic algorithm described in this paper allows for automated compensation of patient motion through optical tracking and Kalman filtering. Having applied it to the neurosurgery setup, preliminary results show that it is possible to identify patient motion events within 700 ms, and compensate for them with an average of 1.24 mm positioning error after 2 s of setup time.
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<div class="BookChapter Publication short-list"> <div class="authors"> <span class="author-name" mtid="10023855"> <a href="/gui2/?type=authors&mode=browse&sel=10023855" target="_blank">Haidegger, Tamás</a> </span> <span class="author-type"> </span> ; <span class="author-name" mtid="10001499"> <a href="/gui2/?type=authors&mode=browse&sel=10001499" target="_blank">Benyó, Zoltán</a> </span> <span class="author-type"> </span> ; <span class="author-name" > Peter, Kazanzides </span> <span class="author-type"> </span> </div ><div class="title"><a href="/gui2/?mode=browse¶ms=publication;2644838" mtid="2644838" target="_blank">Patient Motion Tracking in the Presence of Measurement Errors</a></div> <div class="InBook">In: Gregory, Worrell; Xiaochuan, Pan; Yongmin, Kim; Bin, He (szerk.) <span class="booktitle"><a href="/gui2/?mode=browse¶ms=publication;2422389" target="_blank">2009 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-20 : Engineering the Future of Biomedicine </a></span > </div><div class="pub-info"> <span class="publishedAt">New York, Amerikai Egyesült Államok : <span class="publisher">IEEE</span> <span class="year">(2009)</span> <span class="page"> pp. 5563-5566. , 4 p. </span> </div> <div class="pub-end"><div class="identifier-list"> <span class="identifiers"> <span class="id identifier oa_PAY" title=" Fizetős "> <a style="color:blue" title="10.1109/IEMBS.2009.5333737" target="_blank" href="https://doi.org/10.1109/IEMBS.2009.5333737"> DOI </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:black" title="000280543604118" target="_blank" href="https://www.webofscience.com/wos/woscc/full-record/000280543604118"> WoS </a> </span> <span class="id identifier oa_none" title="none"> <a style="color:black" title="77950992529" target="_blank" href="http://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-77950992529"> Scopus </a> </span> <span class="id identifier oa_none" title="none"> <a 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class="pub-core">Forrás </span> <span class="pub-type">Könyvrészlet (Konferenciaközlemény ) </span> <!-- && !record.category.scientific --> <span class="pub-category">Tudományos</span> <div class="publication-citation" style="margin-left: 0.5cm;"> <span title="Nyilvános idézőközlemények összesen, említések nélkül" class="citingPub-count">Nyilvános idéző összesen: 5</span> | Független: 2 | Függő: 3 | Nem jelölt: 0 | WoS jelölt: 4 | Scopus jelölt: 4 | WoS/Scopus jelölt: 5 | DOI jelölt: 4 </div> </div> </div> </div><div class="BookChapter Publication long-list"> <div class="authors"> <img title="Forrásközlemény" style="float: left" src="/frontend/resources/grid/publication-core-icon.png"> <div class="autype autype0"> <span class="author-name" mtid="10023855"><a href="/gui2/?type=authors&mode=browse&sel=10023855" target="_blank">Haidegger Tamás (<span class="authorship-author-name">Haidegger Tamás</span> <span class="authorAux-mtmt"> orvosi robotika</span>) </a> </span> <span class="author-affil"><span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Villamosmérnöki és Informatikai Kar">VIK</span>/Irányítástechnika és Informatika Tanszék</span> ; <span class="author-name" mtid="10001499"><a href="/gui2/?type=authors&mode=browse&sel=10001499" target="_blank">Benyó Zoltán (<span class="authorship-author-name">Benyó Zoltán</span> <span class="authorAux-mtmt"> Irányítástechnika</span>) </a> </span> <span class="author-affil"><span title="Budapesti Műszaki és Gazdaságtudományi Egyetem">BME</span>/<span title="Villamosmérnöki és Informatikai Kar">VIK</span>/Irányítástechnika és Informatika Tanszék</span> ; <span class="author-name" >Peter Kazanzides </span> </div> </div> <div class="title"><a href="/gui2/?mode=browse¶ms=publication;2644838" target="_blank">Patient Motion Tracking in the Presence of Measurement Errors</a></div> <div class="InBook"><div class="chapter-in">In:</div> <div class="authors"> <div class="autype autype-1"> <span class="author-name" >Gregory Worrell </span> ; <span class="author-name" >Xiaochuan Pan </span> ; <span class="author-name" >Yongmin Kim </span> ; <span class="author-name" >Bin He </span> (szerk.) </div> </div> <div class="booktitle"><a href="/gui2/?mode=browse¶ms=publication;2422389" target="_blank">2009 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-20 : Engineering the Future of Biomedicine </a></div> <div class="conference"> Konferencia helye, ideje: <span class="location">Minneapolis (MN), Amerikai Egyesült Államok <span class="conference-date">2009.09.03. - 2009.09.06.</span> </div> <span class="publishedAt">New York: <span class="publishers">IEEE</span>, <span class="page"> pp 5563-5566 </span> <span class="year">(2009)</span> ( <span class="seriesTitle">Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS</span> <span class="issn">1557-170X</span> ) </div> <div 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