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A fast, accurate and uncalibrated robotic puncture method.
ShangHong Li1, Qiwan Wang1, Biao Yan2
1School of Computer Science and Technology, Guangdong University of Technology, Guangzhou, China.
Summary
This study introduces an uncalibrated robotic puncture method that eliminates the need for traditional hand-eye calibration. This innovative approach enhances accuracy and efficiency in robotic-assisted surgical procedures.
Area of Science:
- Robotics
- Medical Engineering
- Surgical Technology
Background:
- Robotic puncture systems (RPS) typically require pre-operative hand-eye calibration between optical tracking systems (OTS) and robotic arms.
- Calibration inaccuracies due to displacement or deviation can invalidate system performance, necessitating frequent recalibration.
Purpose of the Study:
- To develop an uncalibrated robotic puncture method that bypasses the need for a predefined hand-eye relationship.
- To enable accurate and robust robotic puncture operations without reliance on traditional calibration techniques.
Main Methods:
- Constructing angle and position graph Jacobian matrices.
- Employing Square Root Cubature Kalman Filter for online state estimation.
- Deriving control variables for robotic puncture based on estimated states.
Main Results:
- Achieved an average error of 1.3495 mm in simulation experiments.
- Demonstrated an average time consumption of 39.331 seconds.
- Validated the method's effectiveness in obtaining necessary control variables.
Conclusions:
- The proposed uncalibrated method offers high accuracy for robotic puncture.
- The technique significantly reduces time consumption compared to traditional calibrated methods.
- Experimental results confirm the robustness of the uncalibrated robotic puncture approach.
