Please use this identifier to cite or link to this item: http://hdl.handle.net/2440/88106
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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
RMID: 0020131092
DOI: 10.1243/09544119JEIM617
Appears in Collections:Computer Science publications

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