Accuracy assessment and kinematic calibration of the robotic endoscopic microsurgical system

This paper explores the general stereotactic accuracy of the Robotic Endoscopic Microsurgical System (REMS) by calibrating with a standard optical tracking system. Based on a simple yet effective test protocol, the proposed calibration method combines hand-eye calibration with Bernstein polynomials...

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Bibliographic Details
Main Authors: Feng, Lihang, Wilkening, Paul, Sevimli, Yunuscan, Balicki, Marcin, Olds, Kevin C., Taylor, Russell H.
Format: Conference Proceeding
Language:English
Subjects:
Calibration
Kinematics
Optical sensors
Robot kinematics
Robot sensing systems
Surgery
Online Access:Get full text
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Description
Summary:This paper explores the general stereotactic accuracy of the Robotic Endoscopic Microsurgical System (REMS) by calibrating with a standard optical tracking system. Based on a simple yet effective test protocol, the proposed calibration method combines hand-eye calibration with Bernstein polynomials to improve our kinematic pose accuracy.
ISSN:1557-170X
2694-0604
DOI:10.1109/EMBC.2016.7591872