A multiple closed‐loops robotic calibration for accurate surgical puncture
A multiple closed‐loops robotic calibration for accurate surgical puncture
复制标题
多个闭环机器人校准可实现精确的手术穿刺
DOI：
10.1002/rcs.2242
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发表时间：
2021-02
期刊：
影响因子：
--
通讯作者：
Rongqian Yang
中科院分区：
文献类型：
--
作者：
Lingxiang Zheng;Zhesi Zhang;Zhigang Wang;Kaiyang Bao;Lin Yang;Biao Yan;Zeping Yan;Weitao Ye;Rongqian Yang
背景：机器人穿刺系统对目标定位精度的要求越来越高。系统的所有组成部分之间的位置和方向转换关系应该在术前进行校准和识别。目的：标定结果直接决定目标定位性能。为此，提出了一种多闭环标定方法，以达到机器人穿刺系统较高的标定精度。材料与方法：该方法以安装在手术工具上的反射标记的三维位置信息为输入，由光学跟踪系统在机器人运动过程中实时检测。该算法采用闭环原理，简化了复杂的数学推导和计算。结果：实验结果证明，该方法能够以较少的输入数据和计算成本实现机器人精确的目标定位，满足临床穿刺要求。讨论：通过提出的方法有效地实现了机械臂和光学跟踪系统之间的空间校准，提供了一种可以安全地应用于机器人穿刺系统的精确插入的替代方案。结论：总体而言，本工作提出了一种多闭环校准方法，可提高手术效率。
BACKGROUND:Robotic puncture system increasingly demands stringent standard in target location accuracy. The positional and orientational transformation relationships among all components of the system are supposed to be calibrated and identified preoperatively..AIMS:The target location performance is directly determined by the calibration result. Therefore, a multiple closed-loops calibration approach is proposed to achieve high-level calibration accuracy in robotic puncture system. MATERIALS & METHODS: This method takes as input the three-dimensional position information of the retro-reflective markers mounted on the surgical tool, which is detected by the optical tracking system in real time during robotic movement. There is less complicated mathematical derivation and calculation in the presented algorithm by applying the closed-loop principle..RESULTS:Experimental results validate that it can achieve accurate robotic target location with less input data and computation-cost, satisfying the clinical puncture requirements..DISCUSSION:The spatial calibration between robotic arm and optical tracking system efficiently realised by the presented approach present an alternative which can be safely applied to the robotic puncture system for accurate insertion..CONCLUSION:Overall, a multiple closed-loops calibration approach is proposed in this work, which may increase surgical efficiency.
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影响因子：
3.3
作者：
Qinyong Lin;Rongqian Yang;Ken Cai;Si Xuan;Chen Xiuwen;Xiaoming Wu
通讯作者：
Qinyong Lin;Rongqian Yang;Ken Cai;Si Xuan;Chen Xiuwen;Xiaoming Wu
影响因子：
7.8
作者：
Gatla, Chandra Sekhar;Lumia, Ron;Starr, Greg
通讯作者：
Starr, Greg
DOI：
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发表时间：
1997-11
期刊：
--
影响因子：
--
作者：
W. Schroeder;Bill Lorenson
通讯作者：
W. Schroeder;Bill Lorenson
影响因子：
13.5
作者：
R. Vilana;J. Bruix;C. Brú;C. Ayuso;M. Solé;J. Rodés
通讯作者：
R. Vilana;J. Bruix;C. Brú;C. Ayuso;M. Solé;J. Rodés
DOI：
10.1109/smc.2018.00522
发表时间：
2018-10
期刊：
2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC)
影响因子：
--
作者：
Kuan-Ting Chen;Sheng-De Wang
通讯作者：
Kuan-Ting Chen;Sheng-De Wang