Shin, Sangkyun Cho, Hyunchul Yoon, Siyeop Lee, Deukhee Kim, Youngjun Park, Sehyung Kim, Laehyun Park, Kyusic 2024-01-19T11:39:18Z 2024-01-19T11:39:18Z 2022-03-01 2015-08 1557-170X https://pubs.kist.re.kr/handle/201004/115030 Conventional intracerebral hemorrhage (ICH) surgery uses a stereotactic frame to access an intracerebral hematoma. Using a stereotactic frame for ICH surgery requires a long preparation time. In order to resolve this problem, we propose a markerless surgical robotic system. This system uses weighted iterative closest point technology for surface registration, hand-eye calibration for needle insertion, and 3D surface scanning for registration. We need calibration to integrate the technologies: calibration of robot and needle coordinates and calibration of 3D surface scanning and needle coordinates. These calibrations are essential elements of the markerless surgical robotic system. This system has the advantages of being non-invasive, a short total operation time, and low radiation exposure compared to conventional ICH surgery. English IEEE Markerless Surgical Robotic System for Intracerebral Hemorrhage Surgery Conference 1 37th Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society (EMBC), pp.5272 - 5275 37th Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society (EMBC) 5272 5275 US Milan, ITALY 2015-08-25 2015 37TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC) 000371717205134 2-s2.0-84953285490