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

共 50 条

[31] The Future of Surgical Oncology Image-Guided Cancer Surgery
Singhal, Sunil
JAMA SURGERY, 2016, 151 (02) : 184 - 185
[32] Advances of surgical robotics: image-guided classification and application
Li, Changsheng
Zhang, Gongzi
Zhao, Baoliang
Xie, Dongsheng
Du, Hailong
Duan, Xingguang
Hu, Ying
Zhang, Lihai
NATIONAL SCIENCE REVIEW, 2024, 11 (09)
[33] Surgical Case Identification for an Image-Guided Interventional System
Haidegger, Tamas
Peter Kazanzides
Balazs Benyo
Levente Kovacs
Zoltan Benyo
IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), 2010,
[34] SURGICAL PROCESS MODELING OF IMAGE-GUIDED SPINE SURGERY
Deva, A.
Rypinski, T. A.
Soni, B.
Pillai, P.
Rhines, L. D.
Tatsui, C. E.
Alvarez-Breckenridge, C.
North, R. Y.
Bird, J. E.
Siewerdsen-, J. H.
IMAGE-GUIDED PROCEDURES, ROBOTIC INTERVENTIONS, AND MODELING, MEDICAL IMAGING 2024, 2024, 12928
[35] Scene Adaptivity Analysis for the Image-Guided Surgical Robots
Dong, Xinyu
Li, Jie
Jiang, Guohao
Zhou, Yuanyuan
Zhang, Hua
Liu, Hao
PROCEEDINGS OF 2019 IEEE 7TH INTERNATIONAL CONFERENCE ON COMPUTER SCIENCE AND NETWORK TECHNOLOGY (ICCSNT 2019), 2019, : 525 - 529
[36] A compact stereotactic system for image-guided surgical intervention
Rusheen, Aaron E.
Barath, Abhijeet S.
Goyal, Abhinav
Barnett, J. Hudson
Gifford, Benjamin T.
Bennet, Kevin E.
Blaha, Charles D.
Goerss, Stephan J.
Oh, Yoonbae
Lee, Kendall H.
JOURNAL OF NEURAL ENGINEERING, 2020, 17 (06)
[37] Face Registration and Surgical Instrument Tracking for Image-guided Surgical Navigation
Zhang, Yan
Shen, Xukun
Hu, Yong
2016 INTERNATIONAL CONFERENCE ON VIRTUAL REALITY AND VISUALIZATION (ICVRV 2016), 2016, : 65 - 71
[38] CT-Based Image-Guided Navigation and the DaVinci Robot in Spine Oncology: Changing Surgical Paradigms
Amin, Anubhav G.
Barzilai, Ori
Bilsky, Mark H.
HSS JOURNAL, 2021, 17 (03) : 294 - 301
[39] Design and Control of Ultrasound Image-guided Prostatic Brachytherapy Robot
Sun Y.
Dai X.
Yin Q.
Ju L.
Tang X.
Li M.
Recent Patents on Mechanical Engineering, 2024, 17 (02) : 116 - 122
[40] Design and control of an image-guided robot for spine surgery in a hybrid OR
Balicki, Marcin
Kyne, Sean
Toporek, Grzegorz
Holthuizen, Ronald
Homan, Robert
Popovic, Aleksandra
Burstrom, Gustav
Persson, Oscar
Edstrom, Erik
Elmi-Terander, Adrian
Patriciu, Alexandru
INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY, 2020, 16 (04):

← 1 2 3 4 5 →