Adelaide Research & Scholarship
Please use this identifier to cite or link to this item:
https://hdl.handle.net/2440/88106
| Citations | ||
| Scopus | Web of Science® | Altmetric |
|---|---|---|
|
?
|
?
|
|
| Type: | Journal article |
| Title: | The Pathfinder image-guided surgical robot |
| Author: | Deacon, G. Harwood, A. Holdback, J. Maiwand, D. Pearce, M. Reid, I. Street, M. Taylor, J. |
| Citation: | Proceedings of the Institution of Mechanical Engineers Part H: Journal of Engineering in Medicine, 2010; 224(5):691-713 |
| Publisher: | SAGE Publications |
| Issue Date: | 2010 |
| ISSN: | 0954-4119 2041-3033 |
| Statement of Responsibility: | G Deacon, A Harwood, J Holdback, D Maiwand, M Pearce, I Reid, M Street, and J Taylor |
| Abstract: | This paper first describes the workflow of the Pathfinder image-guided surgical robot that has been designed to replace the stereotactic frame in neurosurgery, and then details the calibration stages employed in order to achieve submillimetre positioning accuracy of a tool tip. The process uses non-linear parameter identification techniques in conjunction with some procedures for camera calibration, which exploit the fact that the camera is mounted to a calibrated robot arm that executes precise motions. |
| Keywords: | frameless stereotaxy kinematic calibration camera calibration non-linear parameter identification multiple view geometry image registration bundle adjustment |
| Rights: | Copyright © by Institution of Mechanical Engineers |
| DOI: | 10.1243/09544119JEIM617 |
| Published version: | http://dx.doi.org/10.1243/09544119jeim617 |
| Appears in Collections: | Aurora harvest 7 Computer Science publications |
Files in This Item:
There are no files associated with this item.
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.