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Please use this identifier to cite or link to this item: https://hdl.handle.net/2440/88106
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dc.contributor.authorDeacon, G.-
dc.contributor.authorHarwood, A.-
dc.contributor.authorHoldback, J.-
dc.contributor.authorMaiwand, D.-
dc.contributor.authorPearce, M.-
dc.contributor.authorReid, I.-
dc.contributor.authorStreet, M.-
dc.contributor.authorTaylor, J.-
dc.date.issued2010-
dc.identifier.citationProceedings of the Institution of Mechanical Engineers Part H: Journal of Engineering in Medicine, 2010; 224(5):691-713-
dc.identifier.issn0954-4119-
dc.identifier.issn2041-3033-
dc.identifier.urihttp://hdl.handle.net/2440/88106-
dc.description.abstractThis 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.-
dc.description.statementofresponsibilityG Deacon, A Harwood, J Holdback, D Maiwand, M Pearce, I Reid, M Street, and J Taylor-
dc.language.isoen-
dc.publisherSAGE Publications-
dc.rightsCopyright © by Institution of Mechanical Engineers-
dc.source.urihttp://dx.doi.org/10.1243/09544119jeim617-
dc.subjectframeless stereotaxy-
dc.subjectkinematic calibration-
dc.subjectcamera calibration-
dc.subjectnon-linear parameter identification-
dc.subjectmultiple view geometry-
dc.subjectimage registration-
dc.subjectbundle adjustment-
dc.titleThe Pathfinder image-guided surgical robot-
dc.typeJournal article-
dc.identifier.doi10.1243/09544119JEIM617-
pubs.publication-statusPublished-
dc.identifier.orcidReid, I. [0000-0001-7790-6423]-
Appears in Collections:Aurora harvest 7
Computer Science publications

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