The Pathfinder image-guided surgical robot

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...

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Bibliographic Details
Published in:Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine Journal of engineering in medicine, 2010-01, Vol.224 (5), p.691-713
Main Authors: Deacon, G, Harwood, A, Holdback, J, Maiwand, D, Pearce, M, Reid, I, Street, M, Taylor, J
Format: Article
Language:English
Subjects:
Algorithms
Biomechanical Phenomena
Calibration
Cameras
Frames
Humans
Image Processing, Computer-Assisted
Mechanical engineers
Neurosurgery
Neurosurgical Procedures - instrumentation
Orthopedics
Parameter identification
Process parameters
Robot arms
Robotic surgery
Robotics
Robotics - instrumentation
Robots
Surgery
Surgery, Computer-Assisted - instrumentation
Surgical techniques
Workflow
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Summary: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.
ISSN:0954-4119
2041-3033
DOI:10.1243/09544119JEIM617