Title :
PET/CT/MRI image fusion based on mobile robot
Author :
Wang, Weidong ; Wu, Dongmei ; Dong, Wei ; Du, Zhijiang ; Sun, Lining
Author_Institution :
State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China
Abstract :
A novel robot-assisted PET/CT/MRI image fusion method is presented. The robot carries the patient from one device to another automatically, securely and precisely. The images obtained in each device are fused by the robot position transformational matrix. First, a 4WD and 4WS mobile robot is introduced. Second, the general kinematics model of the 4WD and 4WS mobile robot is presented. Several special modes are simplified from the general model, Such as ZRT mode, navigation mode and so on. Third, the process of PET/MRI image fusion based on transformational matrix is presented, and the matrix are calculated by the sensors message. At last several clinical trial of this system is introduced. The comparison result between the result of robot-assisted PET/MRI image fusion and the result of combined machine is presented. The method of the robot-assisted PET/MRI image fusion can make the process of image fusion more automatically, securely and precisely.
Keywords :
biomedical MRI; computerised tomography; image fusion; medical image processing; mobile robots; positron emission tomography; 4WD mobile robot; 4WS mobile robot; robot-assisted CT image fusion method; robot-assisted MRI image fusion method; robot-assisted PET image fusion method; transformational matrix; Computed tomography; Magnetic resonance imaging; Mobile robots; Positron emission tomography; Robot kinematics; Wheels; 4WD and 4WS mobile robot; PET/CT/MRI Image Fusion;
Conference_Titel :
Biomedical Engineering and Informatics (BMEI), 2011 4th International Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-9351-7
DOI :
10.1109/BMEI.2011.6098267
