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Physician-Friendly Tool Center Point Calibration Method for Robot-Assisted Puncture Surgery.

Leifeng Zhang1, Changle Li1, Yilun Fan1

  • 1State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China.

Sensors (Basel, Switzerland)
|January 12, 2021
PubMed
Summary
This summary is machine-generated.

This study introduces a new vision-based method for robot tool center point (TCP) calibration, improving accuracy and reducing time for robot-assisted surgery. The enhanced method offers better stability and less operational dependence compared to traditional approaches.

Keywords:
binocular visionpuncture surgeryrobot TCP calibration

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Area of Science:

  • Robotics
  • Medical Imaging
  • Surgical Technology

Background:

  • Precise robot end-tool control requires Tool Center Point (TCP) calibration after each tool replacement.
  • This calibration is critical for accurate robot-assisted puncture surgery.
  • Traditional TCP calibration methods suffer from poor accuracy stability and high operational dependence.

Purpose of the Study:

  • To address limitations of traditional TCP calibration methods.
  • To propose a more physician-friendly TCP calibration technique.
  • To enhance accuracy, stability, and reduce operational dependence in TCP calibration.

Main Methods:

  • Design of a specialized binocular vision system.
  • Development of a vision-based algorithm for simultaneous Tool Center Point Position (TCPP) and Tool Center Point Frame (TCPF) identification.
  • Accuracy and comparison experiments evaluating the new method against traditional techniques.

Main Results:

  • The specialized binocular system achieved a positioning accuracy of ±0.05 mm.
  • Robot configuration set magnitude was identified as a key factor for TCPP accuracy.
  • The proposed method reduced time consumption by 82%, improved TCPP accuracy by 65%, and TCPF accuracy by 52%.

Conclusions:

  • The proposed vision-based TCP calibration method offers superior accuracy, stability, and efficiency over traditional methods.
  • The technique is less dependent on user operations, making it suitable for physicians.
  • This advancement positively impacts the clinical application of high-precision robot-assisted puncture surgery.