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[Uncalibrated Positioning Method for Puncture Robots Based on Optical Navigation].

Qiwan Wang1, Ting Feng2, Rongqian Yang3

  • 1School of Computer Science and Technology, Guangdong University of Technology, Guangzhou, 510006.

Zhongguo Yi Liao Qi Xie Za Zhi = Chinese Journal of Medical Instrumentation
|December 12, 2023
PubMed
Summary
This summary is machine-generated.

This study introduces an uncalibrated optical navigation method for robotic puncture systems, improving accuracy and reducing setup time in minimally invasive surgery by eliminating traditional hand-eye calibration.

Keywords:
Kalman filtersurgical puncturesurgical robotuncalibratedvisual servoing

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Area of Science:

  • Robotics and Automation
  • Medical Imaging
  • Surgical Navigation

Context:

  • Minimally invasive surgery increasingly utilizes robotic puncture systems.
  • Traditional hand-eye calibration is time-consuming and environmentally sensitive, impacting robotic puncture accuracy.
  • Accurate spatial relationship determination is crucial for robotic surgical precision.

Purpose:

  • To propose an uncalibrated positioning method for robotic puncture systems using optical navigation.
  • To enhance puncture accuracy and reduce setup time compared to traditional calibration methods.
  • To develop a robust localization technique for robotic surgical applications.

Summary:

  • A novel two-stage positioning method (angle and position) is presented, utilizing specific image features.
  • An image Jacobian matrix is constructed and updated via online estimation with a cubature Kalman filter.
  • The system drives the robotic puncture system for precise target path localization without prior calibration.

Impact:

  • The uncalibrated method demonstrates superior accuracy over traditional hand-eye calibration.
  • Significant reduction in preoperative preparation time by eliminating the need for calibration.
  • Potential to improve efficiency and reliability in robotic-assisted minimally invasive procedures.