title: Markerless surgical robotic system for intracerebral hemorrhage surgery.
abstract: Conventional intracerebral hemorrhage (ICH) surgery uses a stereotactic frame to access an intracerebral hematoma. Using a stereotactic frame for ICH surgery requires a long preparation time. In order to resolve this problem, we propose a markerless surgical robotic system. This system uses weighted iterative closest point technology for surface registration, hand-eye calibration for needle insertion, and 3D surface scanning for registration. We need calibration to integrate the technologies: calibration of robot and needle coordinates and calibration of 3D surface scanning and needle coordinates. These calibrations are essential elements of the markerless surgical robotic system. This system has the advantages of being non-invasive, a short total operation time, and low radiation exposure compared to conventional ICH surgery.
authors.forename: Sangkyun
authors.initials: S
authors.lastname: Shin
authors.forename: Hyunchul
authors.initials: H
authors.lastname: Cho
authors.forename: Siyeop
authors.initials: S
authors.lastname: Yoon
authors.forename: Kyusic
authors.initials: K
authors.lastname: Park
authors.forename: Youngjun
authors.initials: Y
authors.lastname: Kim
authors.forename: Sehyung
authors.initials: S
authors.lastname: Park
authors.forename: Laehyun
authors.initials: L
authors.lastname: Kim
authors.forename: Deukhee
authors.initials: D
authors.lastname: Lee
mesh_terms: D002138:Calibration; D002543:Cerebral Hemorrhage / Q000000981:diagnostic imaging / Q000601:surgery*; D006801:Humans; D021621:Imaging, Three-Dimensional; D009339:Needles; D012371:Robotics / Q000295:instrumentation / Q000379:methods*; D014057:Tomography, X-Ray Computed