title: Accuracy assessment and kinematic calibration of the robotic endoscopic microsurgical system.
abstract: This paper explores the general stereotactic accuracy of the Robotic Endoscopic Microsurgical System (REMS) by calibrating with a standard optical tracking system. Based on a simple yet effective test protocol, the proposed calibration method combines hand-eye calibration with Bernstein polynomials to improve our kinematic pose accuracy.
authors.lastname: Lihang Feng
authors.forename: Paul
authors.initials: P
authors.lastname: Wilkening
authors.forename: Yunuscan
authors.initials: Y
authors.lastname: Sevimli
authors.forename: Marcin
authors.initials: M
authors.lastname: Balicki
authors.forename: Kevin C
authors.initials: KC
authors.lastname: Olds
authors.forename: Russell H
authors.initials: RH
authors.lastname: Taylor
mesh_terms: D000465:Algorithms; D001696:Biomechanical Phenomena; D002138:Calibration; D004724:Endoscopy / Q000379:methods*; D006801:Humans; D007830:Larynx / Q000601:surgery; D008866:Microsurgery / Q000379:methods*; D010256:Paranasal Sinuses / Q000601:surgery; D019047:Phantoms, Imaging; D065287:Robotic Surgical Procedures / Q000379:methods*; D014827:Vocal Cords / Q000601:surgery