3-D Reconstruction Using a Touch Sensor for Mouse Stereotactic Surgery in Unstructured Environment

Title
3-D Reconstruction Using a Touch Sensor for Mouse Stereotactic Surgery in Unstructured Environment
Authors
김신정김기훈이성온유범재오상록
Keywords
stereotactic surgery; surgical robot; 3-D reconstruction; human-robot interface; touch sensor
Issue Date
2010-11
Publisher
The 7th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2010)
Citation
, 177-179
Abstract
This paper addresses the three dimensional reconstruction method to identify pose and landmarks (here, bregma and lambda points) of a mouse skull for accurate placement of electrodes at clinically pre-determined brain cells during stereotactic surgery. Though the surgery is a widely used technique to investigate the function of brain of animals alive, the success rate (accuracy of placing electrodes) is still poor (30 to 40 percent). Our goal is to provide an accurate electrode positioning human-robot interface to improve the success rate of the surgery. In this paper, a new three dimensional reconstruction method using a touch sensor in unstructured environment is presented. The accuracy ( ≤ 12μm) of the proposed method is verified via experiments.
URI
http://pubs.kist.re.kr/handle/201004/41755
Appears in Collections:
KIST Publication > Conference Paper
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