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|Title:||The Pathfinder image-guided surgical robot|
|Citation:||Proceedings of the Institution of Mechanical Engineers Part H: Journal of Engineering in Medicine, 2010; 224(5):691-713|
|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|
|Appears in Collections:||Computer Science publications|
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