Deacon G, Harwood A, Holdback J, Maiwand D, Pearce M, Reid I, Street M, Taylor J
Robotics, Vision and Graphics Ltd, Reigate, UK.
Proc Inst Mech Eng H. 2010;224(5):691-713. doi: 10.1243/09544119JEIM617.
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.
本文首先描述了已设计用于替代神经外科立体定向框架的探路者图像引导手术机器人的工作流程，然后详细介绍了为实现工具尖端亚毫米级定位精度而采用的校准阶段。该过程使用非线性参数识别技术并结合一些相机校准程序，这些程序利用了相机安装在执行精确运动的校准机器人手臂上这一事实。
