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A multiple closed-loops robotic calibration for accurate surgical puncture
Lingxiang Zheng1, Zhesi Zhang1, Zhigang Wang2
1School of Materials Science and Engineering, South China University of Technology, Guangzhou, China.
Summary
Accurate robotic puncture requires precise calibration. A novel multiple closed-loops calibration approach enhances target location accuracy for robotic surgical systems, improving efficiency.
Area of Science:
- Robotics in Surgery
- Medical Device Calibration
- Surgical Navigation Systems
Background:
- Robotic puncture systems require high target location accuracy.
- Preoperative calibration of positional and orientational relationships is crucial.
- Existing calibration methods may lack efficiency or accuracy.
Purpose of the Study:
- To propose a multiple closed-loops calibration approach for robotic puncture systems.
- To achieve high-level calibration accuracy for improved target location performance.
- To enhance surgical efficiency through precise robotic system calibration.
Main Methods:
- Utilizes real-time 3D position data of retro-reflective markers on surgical tools.
- Employs an optical tracking system for marker detection during robotic movement.
- Applies a closed-loop principle for simplified mathematical derivation and computation.
Main Results:
- The proposed method achieves accurate robotic target location.
- Requires less input data and computational cost compared to traditional methods.
- Meets the stringent accuracy demands of clinical puncture procedures.
Conclusions:
- The multiple closed-loops calibration approach effectively calibrates robotic arms and optical tracking systems.
- Offers a safe and accurate alternative for robotic puncture systems.
- Demonstrates potential to increase overall surgical efficiency.
