A robotic neuro-surgery system and its calibration by using a motion tracking system

Author

Bai, Shaoping ; Teo, Ming Yeong

Author_Institution

Comput. Integrated Med. Intervention Lab., Nanyang Technol. Univ., Singapore

fYear

2002

fDate

2002

Firstpage

436

Lastpage

441

Abstract

A robotic neuro-surgery system based on a parallel manipulator is introduced and a system calibration method by virtue of a motion tracking system is described. The calibration is conducted for its base and tool transformations. Error model for calibration is constructed using differential geometry method. The pose error is obtained based on pose measurement results of OPTOTRAK 3020, a commercial 3D position measurement system. An iterative least squares procedure is used to identify the error parameters in the base and tool transformations. Experiment results are presented to demonstrate the effectiveness of the method for transformation matrices calibration.

Keywords

manipulators; medical robotics; motion control; surgery; computer aided surgery; differential geometry; iterative least squares procedure; motion tracking system; parallel manipulator; pose error; pose measurement; robotic neuro-surgery; Calibration; Concurrent computing; Kinematics; Manipulators; Medical robotics; Parallel robots; Position measurement; Skull; Surgery; Tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Robot and Human Interactive Communication, 2002. Proceedings. 11th IEEE International Workshop on

Print_ISBN

0-7803-7545-9

Type

conf

DOI

10.1109/ROMAN.2002.1045661

Filename

1045661