Title :
An IGSTK-based surgical navigation system connected with medical robot
Author :
Luo, Huoling ; Jia, Fucang ; Zheng, Zhizeng ; Hu, Qingmao ; Xu, Yongzhong
Author_Institution :
Shenzhen Institutes of Adv. Technol., Chinese Acad. of Sci., Shenzhen, China
Abstract :
A surgical navigation system based on IGSTK (Image-Guided Surgical Toolkit) that guide medical robot to drill pedicle screw into vertebra precisely is presented. The surgical location device used is NDI Polaris Vicra® optical tracking system and the assistance robot is KUKA® Robot KR 5 sixx R650. Message communication between the navigation system and KUKA robot is implemented based on OpenIGTLink protocol client-server model. Multiple tracked tools can be tracked automatically by state-machine mechanism in a safe manner. To overcome the line of sight limitation of optical tracking system, a new instrument that we called it two-face instrument model has developed to enlarge the rotation angle of the tracked tool. The experiment showed that the navigation could guide robot to execute precise surgical operation in a simple and safe mode.
Keywords :
client-server systems; medical robotics; path planning; robot vision; surgery; KUKA robot; NDI Polaris Vicra optical tracking system; OpenIGTLink protocol client-server model; image-guided surgical toolkit; medical robot; state-machine mechanism; surgical navigation system; two-face instrument model; Calibration; Instruments; Navigation; Protocols; Robot kinematics; Surgery; message communication; robot; surgical navigation; two-face tool;
Conference_Titel :
Information Computing and Telecommunications (YC-ICT), 2010 IEEE Youth Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-8883-4
DOI :
10.1109/YCICT.2010.5713149
