Haidegger Tamas, Gyõri Sándor, Benyo Balazs, Benyó Zoltáán
Dept. of Control Engineering and Information Technology, Budapest University of Technology and Economics (BME), Magyar tudósok krt. 2., Hungary.
Annu Int Conf IEEE Eng Med Biol Soc. 2010;2010:984-7. doi: 10.1109/IEMBS.2010.5627624.
Image-guided surgical systems and surgical robots are primarily developed to provide patient safety through increased precision and minimal invasiveness. Even more, robotic devices should allow for refined treatments that are not possible by other means. It is crucial to determine the accuracy of a system, to define the expected overall task execution error. A major step toward this aim is to quantitatively analyze the effect of registration and tracking-series of multiplication of erroneous homogeneous transformations. First, the currently used models and algorithms are introduced along with their limitations, and a new, probability distribution based method is described. The new approach has several advantages, as it was demonstrated in our simulations. Primarily, it determines the full 6 degree of freedom accuracy of the point of interest, allowing for the more accurate use of advanced application-oriented concepts, such as Virtual Fixtures. On the other hand, it becomes feasible to consider different surgical scenarios with varying weighting factors.
图像引导手术系统和手术机器人主要是为了通过提高精度和最小化侵入性来确保患者安全而开发的。更重要的是，机器人设备应允许进行其他方式无法实现的精细治疗。确定系统的准确性以定义预期的总体任务执行误差至关重要。朝着这一目标迈出的重要一步是定量分析配准和跟踪——一系列错误齐次变换的乘法效应。首先，介绍了当前使用的模型和算法及其局限性，并描述了一种基于概率分布的新方法。新方法有几个优点，正如我们在模拟中所展示的那样。主要是，它确定了感兴趣点的完整6自由度精度，从而可以更准确地使用诸如虚拟夹具等先进的面向应用的概念。另一方面，考虑具有不同加权因子的不同手术场景变得可行。
