Frameless Patient Registration Using Ultrasonic Imaging: A Preliminary Study

Abstract

Locating the patient accurately in real time is necessary for many medical robotics applications. Current solutions are expensive or inconvenient. We show progress toward solving these problems by using ultrasound to track computed tomography (CT) reference features in realtime. We compute the locations of target features in the ultrasonic images relative to the CT reference features.

Key Words:

• robotics
• registration
• real-time location
• frameless registration