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https://hdl.handle.net/2440/88106
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Type: | Journal article |
Title: | The Pathfinder image-guided surgical robot |
Author: | Deacon, G. Harwood, A. Holdback, J. Maiwand, D. Pearce, M. Reid, I. Street, M. Taylor, J. |
Citation: | Proceedings of the Institution of Mechanical Engineers Part H: Journal of Engineering in Medicine, 2010; 224(5):691-713 |
Publisher: | SAGE Publications |
Issue Date: | 2010 |
ISSN: | 0954-4119 2041-3033 |
Statement of Responsibility: | G Deacon, A Harwood, J Holdback, D Maiwand, M Pearce, I Reid, M Street, and J Taylor |
Abstract: | This paper first describes the workflow of the Pathfinder image-guided surgical robot that has been designed to replace the stereotactic frame in neurosurgery, and then details the calibration stages employed in order to achieve submillimetre positioning accuracy of a tool tip. The process uses non-linear parameter identification techniques in conjunction with some procedures for camera calibration, which exploit the fact that the camera is mounted to a calibrated robot arm that executes precise motions. |
Keywords: | frameless stereotaxy kinematic calibration camera calibration non-linear parameter identification multiple view geometry image registration bundle adjustment |
Rights: | Copyright © by Institution of Mechanical Engineers |
DOI: | 10.1243/09544119JEIM617 |
Published version: | http://dx.doi.org/10.1243/09544119jeim617 |
Appears in Collections: | Aurora harvest 7 Computer Science publications |
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