Application of Calibration Techniques to Enhance Accuracy of Markerless Surgical Robotic System for Intracerebral Hematoma Surgery
- Application of Calibration Techniques to Enhance Accuracy of Markerless Surgical Robotic System for Intracerebral Hematoma Surgery
- 박규식; 윤현민; 신상균; 조현철; 김영준; 김래현; 이득희
- Hand-eye calibration; ICH surgery; Markerless registration; Stereotactic device; Surgical robot
- Issue Date
- 한국CAD/CAM학회논문집; Transactions of the society of CAD/CAM engineers.
- VOL 20, NO 3, 246-253
- In this paper, we propose calibration methods that can be applied to the markerless surgical
robotic system for Intracerebral Hematoma (ICH) Surgery. This surgical robotic system does not require additional process of patient imaging but only uses CT images that are initially taken for a diagnosis purpose. Furthermore, the system applies markerless registration method other than using stereotactic frames. Thus, in overall, our system has many advantages when compared to other conventional ICH surgeries in that they are non-invasive, much less exposed to radiationexposure, and most importantly reduces a total operation time. In the paper, we specifically focus on the application of calibration methods and their verification which is one of the most critical factors that determine the accuracy of the system. We implemented three applications of calibration methods between the coordinates of robot’s end-effector and the coordinates of 3D facial surface scanner, based on the hand-eye calibration method. Phantom tests were conducted to validate the feasibility and accuracy of our proposed calibration methods and the surgical robotic system.
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