POSITION TRACKING METHOD FOR VASCULAR TREATMENT MICRO ROBOT THROUGH NON-RIGID FUSION

摘要

PURPOSE: A position tracking method of a micro robot for blood vessel treatment which uses a non-rigid body fusion method is provided to transform a deformed CT(Computed Tomography) image by applying optimized variables to thereto. CONSTITUTION: A matching system comprises a display part which displays an ultrasonic image, a CT(Computed Tomography) image, and an ultrasonic-CT matched image. The ultrasonic image, CT image before matching with a non-rigid body image, and ultrasonic-CT matched image are displayed on each slide. A marker which is respectively marked on the CT image before matching and the ultrasonic image is completely matched in all slide images including diaphragm and blood vessel region images. An X-ray image and the CT image before matching are prepared. The X-ray image and the CT image before matching are integrated.