中文摘要：

病人空间与 CT 图像空间的配准是图像导航前列腺粒子植入手术机器人系统的重要部分,其关键在于提高靶区配准精度.经直肠超声探头有准确获得体内信息的优势,因此提出了-种结合体表信息以及体内超声图像信息的混合配准方法.固定电磁定位仪接收器于超声探头上,通过探头标定实验,获取二维超声图像坐标到电磁定位仪接收器的坐标转换矩阵,计算超声图像上点的空间三维坐标.模型配准实验结果表明,引入超声图像和未引入超声图像的靶点配准误差分别是（2.60±0.38）mm和（3.19±0.46）mm,靶区配准精度得到较大提高.

英文摘要：

The registration of patient space and CT image space is an essential part of image guided surgical robot system for prostate seed implantation,and its key point is to improve target registration accuracy. Transrectal probe ultrasonic image can provide in vivo information,thus a hybrid registration method is proposed,which incorporates surface markers and ultrasonic image. The electromagnetic locator receiver is fixed on the transrectal probe. The coor-dinate transformation matrix,which converts the 2D ultrasound image coordinate to electromagnetic locator receiver space,is obtained from the probe calibration experiment. The 3D ultrasonic image point will be calculated using the coordinate transformation matrix. The model registration experiment indicates higher target registration accuracy with the ultrasonic image,and the target registration errors（TREs）with and without ultrasonic image are 2.60±0.38,mmand 3.19±0.46,mm,respectively.