A Multiple Closed‐loops Robotic Calibration for Accurate Surgical Puncture

xlomafota13 shared this article with you from Inoreader A Multiple Closed‐loops Robotic Calibration for Accurate Surgical Puncture Via The International Journal of Medical Robotics and Computer Assisted Surgery Abstract Robotic puncture system increasingly demands stringent standard in target location accuracy. The positional and orientational transformation relationships among all components of the system are supposed to be calibrated and identified preoperatively. The target location performance is directly determined by the calibration result. Therefore, a multiple closed‐loops calibration approach is proposed to achieve high‐level calibration accuracy in robotic puncture system. This method takes as input the three‐dimensional position information of the retro‐reflective markers mounted on the surgical tool, which is detected by the optical tracking system in real time during robotic movement. There is less complicated mathematical derivation and calculation in the presented algorithm by applying the closed‐loop principle. Experimental results validate that it can achieve accurate robotic target location with less input data and computation‐cost, satisfying the clinical puncture r equirements. The spatial calibration between robotic arm and optical tracking system efficiently realized by the presented approach present an alternative which can be safely applied to the robotic puncture system for accurate insertion. This article is protected by copyright. All rights reserved. View on the web Inoreader. Take back control of your news feed. Follow us on Twitter and Facebook.