The Pathfinder image-guided surgical robot

Author:

Deacon G1,Harwood A2,Holdback J3,Maiwand D4,Pearce M5,Reid I6,Street M7,Taylor J8

Affiliation:

1. Robotics, Vision and Graphics Ltd, Reigate, UK

2. EDC International Ltd, Reading, UK

3. Measurement Technologies Ltd, Moreton-in-Marsh, UK

4. JP Morgan, London, UK

5. Toshiba Medical Visualization Systems (Europe) Ltd, Edinburgh, UK

6. University of Oxford, Oxford, UK

7. Prosurgics Ltd, Bracknell, UK

8. Enodo Ltd, Manchester, UK

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.

Publisher

SAGE Publications

Subject

Mechanical Engineering,General Medicine

Cited by 29 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Design and Application of Multidimensional Force/Torque Sensors in Surgical Robots: A Review;IEEE Sensors Journal;2023-06-15

2. Robotics in Neurosurgical Training;Robotics in Neurosurgery;2022

3. Artificial Intelligence (AI) in Neurosurgery;Learning and Career Development in Neurosurgery;2022

4. Cranial neurosurgical robotics;British Journal of Neurosurgery;2021-08-06

5. Early Developments, Current Systems, and Future Directions;Neuromethods;2020-11-10

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