School of Materials Science and Engineering, South China University of Technology, Guangzhou, China.
Aimooe Technology Co., Ltd, Guangzhou, China.
Int J Med Robot. 2021 Jun;17(3):e2242. doi: 10.1002/rcs.2242. Epub 2021 Mar 26.
Robotic puncture system increasingly demands stringent standard in target location accuracy. The positional and orientational transformation relationships among all components of the system are supposed to be calibrated and identified preoperatively.
The target location performance is directly determined by the calibration result. Therefore, a multiple closed-loops calibration approach is proposed to achieve high-level calibration accuracy in robotic puncture system. MATERIALS & METHODS: This method takes as input the three-dimensional position information of the retro-reflective markers mounted on the surgical tool, which is detected by the optical tracking system in real time during robotic movement. There is less complicated mathematical derivation and calculation in the presented algorithm by applying the closed-loop principle.
Experimental results validate that it can achieve accurate robotic target location with less input data and computation-cost, satisfying the clinical puncture requirements.
The spatial calibration between robotic arm and optical tracking system efficiently realised by the presented approach present an alternative which can be safely applied to the robotic puncture system for accurate insertion.
Overall, a multiple closed-loops calibration approach is proposed in this work, which may increase surgical efficiency.
机器人穿刺系统对目标位置精度的要求越来越严格。系统各组成部分的位置和方向转换关系应在术前进行校准和识别。
目标位置的性能直接由校准结果决定。因此，提出了一种多闭环校准方法，以实现机器人穿刺系统的高精度校准。
该方法以安装在手术工具上的反光标记的三维位置信息作为输入，这些信息由机器人运动过程中实时的光学跟踪系统检测。所提出的算法应用闭环原理，减少了复杂的数学推导和计算。
实验结果验证了该方法可以用较少的输入数据和计算成本实现精确的机器人目标定位，满足临床穿刺要求。
该方法有效地实现了机器人手臂和光学跟踪系统之间的空间校准，为精确插入提供了一种安全的选择，可安全应用于机器人穿刺系统。
总之，本研究提出了一种多闭环校准方法，可提高手术效率。
