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Fig. 6. Experimental configurat

An acrylic box filled with pure watethe ultrasound system. The tracking systhe phantom and the ultrasound probultrasound probe detected landmarks (Fphantom. After appropriate transformaticalculated during calibration, landmarkfiducial markers. The paired point regwas performed between a reconstructecomputed tomography (CT) volumephantom.

Two experiments were performed. depth mark, seven fiducial makers surface of the phantom were used Second, with one depth marker, seven attached to the surface of the phantomregistration. We measured the FRE anexperiment. TREs were measured usinthe inner landmarks, except the point tthe depth fiducial marker.

3. RESULTS

The registration accuracy withou

anatomical landmark was examined. Umarkers and additional one anatomicanumber of trials was 10 for each target.

tion.

er was used with stem tracked both be (Fig. 6). The Fig. 5) inside the ions, which were

ks were used like gistration method ed image of the e data and the

First, without a attached to the for registration. fiducial markers

m were used for nd TRE in every ng three points of that was used for

ut and with an Use seven surface al landmark. The

Fig. 7. Registration erroanatomical landmark

Fig. 7 shows the TREs and

with an anatomical landmark 2.13 ± 0.37 mm. Likewiseanatomical landmark, TRE1s 1.27 ± 0.39 mm, TRE2s were± 0.73 mm, TRE3s were 1.20.47 mm, TRE4s were 1.65 ±mm. Except TRE2, the use ocaused an increase in FRE, TRE.

4. CONCL

In this study, a point-baseincludes an anatomical landmusing an ultrasound systeregistration accuracy with anlandmark was examined. In twas confirmed that the targetimproved when the referenceerror caused by the distortioninsufficient calibration of thereduced, patient-image regaccurate.

ACKNOWLED

This work was supported development program (MOtorhinolaryngology, and invasive multi-DOF surgicaMinistry of Trade, Industry(10040097). It was also suppand Convergence Science DGIST.

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d FREs. FREs without and were 0.76 ± 0.12 mm and

e, with and without the were 1.46 ± 0.31 mm and

e 1.69 ± 0.41 mm and 1.89 24 ± 0.47 mm and 0.95 ± ± 0.74 mm and 1.04 ± 0.53 of the anatomical landmark

and a slight decrease in

USIONS d registration method that mark as a reference mark em was proposed. The nd without an anatomical the phantom experiment, it t registration accuracy was e points were used. If the n of ultrasound image and e ultrasound probe can be gistration will be more

DGEMENTS

in part by a research and Medical Image- guided

neurosurgical minimally al robot systems) of the y and Energy of Korea ported by the MIREBrain Center (12-BD-0402) of

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