Open AccessSPACE CALIBRATION OF THE ROBOT SYSTEM IN PUNCTURE SURGERY
Author(s) -
Changle Li,
Zequn Li,
Xuehe Zhang,
Gangfeng Liu,
Jie Zhao
Publication year - 2021
Publication title -
journal of mechanics in medicine and biology
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.236
H-Index - 30
eISSN - 1793-6810
pISSN - 0219-5194
DOI - 10.1142/s0219519421400704
Subject(s) - calibration , computer vision , computer science , artificial intelligence , noise (video) , position (finance) , robot , rotation (mathematics) , frame (networking) , simulation , mathematics , statistics , image (mathematics) , finance , economics , telecommunications
Traditional manual puncture surgery has low positioning accuracy and poor stability. Moreover, the computed tomography method can cause strong radiation damage. Therefore, this study intends to establish a robotic system in puncture surgery, which is based on optical registration to improve safety, accuracy, and efficiency. As the accuracy of surgical space calibration influences the accuracy of the surgical system, this study proposes an improved automatic calibration algorithm for linear rotation. The algorithm can reduce error caused by manual calibration and system noise. Recalibration is not required provided that the pose of the digital reference frame is unchanged, thereby improving accuracy and efficiency. The proposed algorithm is experimentally verified to prove its effectiveness. Results show that the average errors of position and posture are 0.25[Formula: see text]mm and 0.2 ∘ , respectively. The accuracy of calibration fully meets the needs of surgery.