The Pathfinder image-guided surgical robot.
Proc Inst Mech Eng H
; 224(5): 691-713, 2010.
Article
em En
| MEDLINE
| ID: mdl-20718271
ABSTRACT
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.
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Base de dados:
MEDLINE
Assunto principal:
Robótica
/
Procedimentos Neurocirúrgicos
/
Cirurgia Assistida por Computador
Limite:
Humans
Idioma:
En
Ano de publicação:
2010
Tipo de documento:
Article