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�������պ����ѧѧ�� 2007, Vol. 33 Issue (03) :370-374    DOI:
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Visual servoing control in robot-assisted stereotactic neurosurgery
Liu Junchuan, Zhang Yuru, Li Zhen*
School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

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Abstract�� Positioning accuracy is one of the most important specifications in robot-assisted stereotactic neurosurgery. A visual servoing control method in robot-assisted stereotactic neurosurgery was presented to improve the overall positioning accuracy of the robot system. The position-based endpoint closed-loop visual servoing architecture was selected according to the characteristic of robot-assisted stereotactic neurosurgery. A visual tracking method utilizing the robot motion information was developed to locate the robot end-effector in the cameras images in real time. The visual servoing control law for the robot system was derived aiming at the problem that the tumor inside the patient′s head was unseen in the cameras images. With the visual servoing control method, the positioning error of the robot system was mainly caused by the target registration process. The effect of the robot absolute positioning error was eliminated and the overall positioning accuracy of the robot system was improved. Simulation of the clinical process and positioning accuracy test proved the validity of the method.
Keywords�� neurosurgery   robot   accuracy   visual servo     
Received 2006-04-28;
Fund:

����863����������Ŀ(2001AA422110,2004AA421012)

About author: ������(1979-),��,ɽ��������,��ʿ��,buaaljc@gmail.com.
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������, ������, ����.����ƻ������Ӿ��ŷ��о�[J]  �������պ����ѧѧ��, 2007,V33(03): 370-374
Liu Junchuan, Zhang Yuru, Li Zhen.Visual servoing control in robot-assisted stereotactic neurosurgery[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2007,V33(03): 370-374
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