A New Real-time Method for Distortion Correction in Surgical Robot Positioning Systems
A surgical robot usually utilizes a small marker ball to implement positioning task.However,a tough problem of this system is that images gathered in this system are always distorted,which reduces the accuracy of our positioning. Conventional distortion correction methods have to compute the whole image before determine a certain points ideal position, which is time consuming and cannot meet the systems real-time requirement.So in this paper,a novel correction method is proposed.It is distinguished from the conventional methods in its real-time property.This novel method analyzes the distortion model,to establish an equation between the distorted points and the distortion-free points.Then an algorithm based on fixed point theorem is applied to solve this high order equation.Experiments with explicit data show that this novel method has about the same correction accuracy as the conventional methods but with much less time,totally meet the real-time requirement.
Tingfang Yan Ning Wei Qing He Wei Liu Chenxi Wang Jinglan Tian Chao Hu Max Q.-H.Meng
Shenzhen Institutes of Advanced Technology,Chinese Academy of Sciences 1068 Xueyuan Avenue Shenzhen Shenzhen Institutes of Advanced Technology,Chinese Academy of Sciences 1068 Xueyuan Avenue Shenzhen School of Control Science and Engineering,Shandong University,Jinan,Shandong,China Shenzhen Institutes of Advanced Technology,Chinese Academy of Sciences 1068 Xueyuan Avenue Shenzhen
国际会议
深圳
英文
285-289
2011-06-06（万方平台首次上网日期，不代表论文的发表时间）