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

[41] Image-Guided Mastoidectomy with a Cooperatively Controlled ENT Microsurgery Robot
Razavi, Christopher R.
Wilkening, Paul R.
Yin, Rui
Barber, Samuel R.
Taylor, Russell H.
Carey, John P.
Creighton, Francis X.
OTOLARYNGOLOGY-HEAD AND NECK SURGERY, 2019, 161 (05) : 852 - 855
[42] An image-guided hybrid robot system for dental implant surgery
Feng, Yuan
Fan, JiaCheng
Tao, BaoXin
Wang, ShiGang
Mo, JinQiu
Wu, YiQun
Liang, QingHua
Chen, XiaoJun
INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY, 2022, 17 (01) : 15 - 26
[43] Design and validation of an image-guided robot for small animal research
Kazanzides, Peter
Chang, Jenghwa
Iordachita, Iulian
Li, Jack
Ling, C. Clifton
Fichtinger, Gabor
MEDICAL IMAGE COMPUTING AND COMPUTER-ASSISTED INTERVENTION - MICCAI 2006, PT 1, 2006, 4190 : 50 - 57
[44] An image-guided hybrid robot system for dental implant surgery
Yuan Feng
JiaCheng Fan
BaoXin Tao
ShiGang Wang
JinQiu Mo
YiQun Wu
QingHua Liang
XiaoJun Chen
International Journal of Computer Assisted Radiology and Surgery, 2022, 17 : 15 - 26
[45] Image-Guided Control of an Endoscopic Robot for OCT Path Scanning
Zhang, Zhongkai
Rosa, Benoit
Caravaca-Mora, Oscar
Zanne, Philippe
Gora, Michalina J.
Nageotte, Florent
IEEE ROBOTICS AND AUTOMATION LETTERS, 2021, 6 (03): : 5881 - 5888
[46] Image-guided, surgical robot-assisted percutaneous puncture of the foramen ovale and foramina stylomastoideum: a cadaveric study
Meng Fan-Hao
Song Yu
Qiao Bo
Jin Neng-Hao
Zhu Yan-Ming
Liang Bo-Fu
Gao Deng-Fa
Zhang Hai-Zhong
中华医学杂志英文版, 2021, 134 (19) : 2362 - 2364
[47] Image-guided surgical navigation in otology and neurotology - Invited comments
Mann, WJ
Klimek, L
AMERICAN JOURNAL OF OTOLOGY, 1999, 20 (05): : 694 - 696
[48] Introduction to the special issue of image-guided surgical planning and therapy
Liao, Hongen
Wong, Kelvin K.
Xue, Zhong
COMPUTERIZED MEDICAL IMAGING AND GRAPHICS, 2010, 34 (01) : 1 - 2
[49] Image-guided, surgical robot-assisted percutaneous puncture of the foramen ovale and foramina stylomastoideum: a cadaveric study
Meng, Fan-Hao
Song, Yu
Qiao, Bo
Jin, Neng-Hao
Zhu, Yan-Ming
Liang, Bo-Fu
Gao, Deng-Fa
Zhang, Hai-Zhong
CHINESE MEDICAL JOURNAL, 2021, 134 (19) : 2362 - 2364
[50] Initial experience with image-guided surgical navigation in transoral surgery
Paydarfar, Joseph A.
Wu, Xiaotian
Halter, Ryan J.
HEAD AND NECK-JOURNAL FOR THE SCIENCES AND SPECIALTIES OF THE HEAD AND NECK, 2019, 41 (01): : E1 - E10

← 1 2 3 4 5 →