title: 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 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.
authors: Robotics, Vision and Graphics Ltd, Reigate, UK. gedeacon@btinternet.com
authors: G
authors: G
authors: Deacon
authors: A
authors: A
authors: Harwood
authors: J
authors: J
authors: Holdback
authors: D
authors: D
authors: Maiwand
authors: M
authors: M
authors: Pearce
authors: I
authors: I
authors: Reid
authors: M
authors: M
authors: Street
authors: J
authors: J
authors: Taylor
mesh_terms: 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*