Space Registration and Practice of Surgical Robotic System based on Optical Navigation
Our project aimed at independently developing the first surgical robotic system based on optical navigation for assisting treatment of craniofacial bone deformities. Space registration and coordinate calibration are basic issues in the research. A practical scheme of craniofacial surgery robot based on optical localization is presented, which makes space registration and calibration more easily, promptly and accurately. The system architecture, operational principle and procedures are introduced. An effective method of constructing coordinate mapping from computer image model space to robotic operating space is studied. The proposed scheme processes space registration based on markers, using optical tracking technique to sense and correct robotic poses, thus greatly improves the precision, facility and intelligence of the system.
surgical robot optical navigation space registration coordinate mapping craniofacial surgery
Haijun Gui Shilei Zhang Guofang Shen Yanping Lin Nan Luan Xiaoming Zhang
Department of Oral and Maxillofacial surgery Ninth Peoples Hospital, Shanghai Jiao Tong University School of Mechanical and Power Engineering Shanghai Jiao Tong University Shanghai 200030, CHINA
国际会议
2011 International Conference on Information and Industrial Electronics(2011年信息与工业电子国际会议 ICIIE 2011)
成都
英文
232-234
2011-01-14(万方平台首次上网日期,不代表论文的发表时间)