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Related Experiment Video

Updated: Feb 10, 2026

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[A plane-based hand-eye calibration method for surgical robots].

Bowei Zeng1, Fanle Meng1, Hui Ding1

  • 1Department of Biomedical Engineering, Tsinghua University, Beijing 100084, P.R.China.

Sheng Wu Yi Xue Gong Cheng Xue Za Zhi = Journal of Biomedical Engineering = Shengwu Yixue Gongchengxue Zazhi
|May 11, 2018
PubMed
Summary
This summary is machine-generated.

This study presents a new calibration algorithm for surgical robots and laser range finders (LRF), significantly improving accuracy by filtering measurement errors. The enhanced method achieves high precision, meeting surgical location requirements.

Keywords:
hand-eye calibrationlaser range findernonlinear optimizationsurgical robotthree orthogonal planes

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Area of Science:

  • Robotics
  • Surgical Technology
  • Computer Vision

Context:

  • Accurate hand-eye calibration is crucial for precise surgical robot and laser range finder (LRF) operations.
  • Existing calibration methods face challenges with measurement errors in practical systems.

Purpose:

  • To develop and validate a robust hand-eye calibration algorithm for surgical robots and LRFs.
  • To improve calibration accuracy by effectively eliminating measurement errors.

Summary:

  • A novel calibration algorithm using a planar template and coplanar data selection is proposed.
  • The algorithm incorporates three orthogonal planes and nonlinear optimization to enhance precision.
  • Experimental validation demonstrated significant improvements, with the three-orthogonal-planes method achieving (0.37±0.05) mm precision.

Impact:

  • The developed method achieves high accuracy (mean FRE of 0.24 mm, TRE of 0.26 mm), meeting surgical robot precise location demands.
  • This advancement can enhance the safety and efficacy of robot-assisted surgeries.