Development of an image-guided robotic system for surgical positioning and drilling

被引：3
|
作者：
Tseng, Ching-Shiow
Huang, Chiao-Chi
Chen, Chen-San [1 ]
机构：
[1] No Taiwan Inst Sci & Technol, Dept Mech Engn, Taipei 112, Taiwan
[2] Natl Cent Univ, Inst Biomed Engn, Chungli 320, Taiwan
[3] Natl Cent Univ, Dept Mech Engn, Chungli 320, Taiwan
来源：
ROBOTICA | 2007年 / 25卷 / 03期
关键词：
D O I：
10.1017/S0263574706003195
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This study develops a novel image-guided robotic system that can be used to position biopsy needles or drill fixation holes. After the patient has received a CT-scan, the registration of the image, localizer (patient), and robot frames will be done by finding the optimum transformation matrix among the image and localizer coordinates of the fiducial markers and the DRFs mounted on the robot. Then, surgical paths planned on the computer displayed images can be transformed to the robot frame, and the robot is thus capable to move surgical tools to the preplanned location. The positioning error is about 2 min and the orientation error is about 0.23 degrees.
引用
收藏
页码：375 / 383
页数：9
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