The Pathfinder image-guided surgical robot

被引：27

作者：

Deacon, G. ^{[1
]}

Harwood, A. ^{[2
]}

Holdback, J. ^{[3
]}

Maiwand, D. ^{[4
]}

Pearce, M. ^{[5
]}

Reid, I. ^{[6
]}

Street, M. ^{[7
]}

Taylor, J. ^{[8
]}

机构：

[1] Vis & Graph Ltd, Robot, Reigate, England

[2] EDC Int Ltd, Reading, Berks, England

[3] Measurement Technol Ltd, Moreton In Marsh, England

[4] JP Morgan, London, England

[5] Toshiba Med Visualizat Syst Europe Ltd, Edinburgh, Midlothian, Scotland

[6] Univ Oxford, Oxford, England

[7] Prosurgics Ltd, Bracknell, Berks, England

[8] Enodo Ltd, Manchester, Lancs, England

来源：

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART H-JOURNAL OF ENGINEERING IN MEDICINE | 2010年 / 224卷 / H5期

关键词：

frameless stereotaxy; kinematic calibration; camera calibration; non-linear parameter identification; multiple view geometry; image registration; bundle adjustment; POSITIONING ACCURACY;

D O I：

10.1243/09544119JEIM617

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

This paper first describes the workflow of the Pathfinder image-guided surgical robot that has been designed to replace the stereotactic frame in neurosurgery, and then details the calibration stages employed in order to achieve submillimetre positioning accuracy of a tool tip. The process uses non-linear parameter identification techniques in conjunction with some procedures for camera calibration, which exploit the fact that the camera is mounted to a calibrated robot arm that executes precise motions.

引用

页码：691 / 713

页数：23

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