IEEE Transactions on Biomedical Engineering

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Fluoroscopic Navigation for a Surgical Robotic System including a Continuum Manipulator
We present an image-based navigation solution for a surgical robotic system with a continuum manipulator. Our navigation system uses only fluoroscopic images from a mobile C-arm to estimate the continuum manipulator’s shape and pose with respect to the bone anatomy. The continuum manipulator’s pose and shape estimation is achieved using multiple view image intensity-based 2D/3D registration. A learning-based framework is used to detect the continuum manipulator for automatic pose initialization. Our system was tested in both simulation and cadaveric studies. The results suggest that our proposed fluoroscopic navigation is feasible to guide the continuum manipulator in orthopedic applications... Read more