Multi-sensor Augmented Reality Tracking Based on Robot Hand-Eye Calibration

Zhang, Yang; Li, Lin; Zhou, Ya; Su, Tao; Ma, Jin-Lin; Hu, Xiaoming

doi:10.1007/978-3-642-27866-2_7

Cited by 5 publications

(2 citation statements)

References 8 publications

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“…After establishing the transformation relationship between the robot base coordinate system and optical measurement space, transform the position and orientation of the end effector into the robot base coordinate system in order to control the end effector to the target position and orientation. This procedure is called the robot hand-eye coordination [ 28 , 29 ].…”

Section: System and Modelmentioning

confidence: 99%

Modelling and Experiment Based on a Navigation System for a Cranio-Maxillofacial Surgical Robot

Duan

Gao

Wang

et al. 2018

Journal of Healthcare Engineering

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In view of the characteristics of high risk and high accuracy in cranio-maxillofacial surgery, we present a novel surgical robot system that can be used in a variety of surgeries. The surgical robot system can assist surgeons in completing biopsy of skull base lesions, radiofrequency thermocoagulation of the trigeminal ganglion, and radioactive particle implantation of skull base malignant tumors. This paper focuses on modelling and experimental analyses of the robot system based on navigation technology. Firstly, the transformation relationship between the subsystems is realized based on the quaternion and the iterative closest point registration algorithm. The hand-eye coordination model based on optical navigation is established to control the end effector of the robot moving to the target position along the planning path. The closed-loop control method, “kinematics + optics” hybrid motion control method, is presented to improve the positioning accuracy of the system. Secondly, the accuracy of the system model was tested by model experiments. And the feasibility of the closed-loop control method was verified by comparing the positioning accuracy before and after the application of the method. Finally, the skull model experiments were performed to evaluate the function of the surgical robot system. The results validate its feasibility and are consistent with the preoperative surgical planning.

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Section: System and Modelmentioning

confidence: 99%

Modelling and Experiment Based on a Navigation System for a Cranio-Maxillofacial Surgical Robot

Duan

Gao

Wang

et al. 2018

Journal of Healthcare Engineering

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show abstract

“…After establishing the transformation relationship between the robot space and optical measurement space, transform the position and orientation of the end-effectors into the robot space in order to control the end-effectors to target positions and orientation. This procedure is called the robot hand-eye coordination [26].…”

Section: Hand-eye Coordination Based On Optical Positioningmentioning

confidence: 99%

Spatial Registration for a Three-Arm Robot Assisted Mandible Reconstruction Surgery

Wang

Duan

2015

Mathematical Problems in Engineering

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The three-arm surgical robot system assisted mandible reconstruction surgery (TMR-MRS) is developed to repair the mandible defects caused by congenital defect, trauma, or acquired disease. The surgical robot system is divided into four parts, including 3D reconstructed image subsystem, robotic subsystem, optical measurement subsystem, and patient subsystem. The spatial registration based on quaternion is proposed to obtain the transformation relationship between four surgical subsystems. A method of hand-eye coordination is presented to control the end-effector of the robot arm to target position according to surgical planning. A least square error criterion is developed to optimize and compensate the hand-eye coordination method. In addition, the position of fibular implant in the robot space is calculated when it is grasped by end-effector of robot middle arm. Finally, the positioning accuracy tests and skull model experiments were conducted to evaluate the function of the surgical robot system. The results validate its feasibility and are consistent with the preoperative surgical planning.

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