Image-based guidance system for intravascular microrobot: Fiducial marker-based registration using biplanar fluoroscopic images & CTA images

The ultimate goal of this work is to develop an image-based guidance system for a microrobot that treats vascular disease. In the preoperative stage, a computed tomography angiography (CTA) image is taken after fiducial markers are implanted. In order to obtain the position information of the microrobot during surgery, a biplanar fluoroscopic image is used. Fiducial marker-based registration is carried out to measure the relative position between CTA images and X-ray images, and it will be used to obtain the position information of the microrobot. Resultant error of the registration procedure was about 2 mm, and the image-based guidance system for the microrobot will be developed using the proposed algorithm.