The Pathfinder image-guided surgical robot.
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.
Deacon
G
G
Robotics, Vision and Graphics Ltd, Reigate, UK. gedeacon@btinternet.com
Harwood
A
A
Holdback
J
J
Maiwand
D
D
Pearce
M
M
Reid
I
I
Street
M
M
Taylor
J
J
D000465:Algorithms; D001696:Biomechanical Phenomena; D006801:Humans; D007091:Image Processing, Computer-Assisted; D019635:Neurosurgical Procedures / Q000295:instrumentation*; D012371:Robotics / Q000295:instrumentation*; D025321:Surgery, Computer-Assisted / Q000295:instrumentation*