Volume 33 Issue 03
Mar.  2007
Turn off MathJax
Article Contents
Liu Junchuan, Zhang Yuru, Li Zhenet al. Visual servoing control in robot-assisted stereotactic neurosurgery[J]. Journal of Beijing University of Aeronautics and Astronautics, 2007, 33(03): 370-374. (in Chinese)
Citation: Liu Junchuan, Zhang Yuru, Li Zhenet al. Visual servoing control in robot-assisted stereotactic neurosurgery[J]. Journal of Beijing University of Aeronautics and Astronautics, 2007, 33(03): 370-374. (in Chinese)

Visual servoing control in robot-assisted stereotactic neurosurgery

  • Received Date: 28 Apr 2006
  • Publish Date: 31 Mar 2007
  • 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.

     

  • loading
  • [1] Kwoh Y S,Hou J,Jonckheere E A,et al. Robot with improved absolute positioning accuracy for CT guided stereotactic brain surgery[J]. IEEE Transactions on Biomedical Engineering,1988,35(2):153-160 [2] Shen Weimin,Gu J,Milios E. Robotic neurosurgery and clinical applications Proceedings of 2004 International Conference on Intelligent Mechatronics and Automation. New York:IEEE, 2004:114-119 [3] Maciunas R J,Galloway R L Jr, Latimar J W. The application accuracy of stereotactic frames[J]. Neurosurgery,1994,35(4):682-695 [4] Li Q H, Zamorano L, Pandya A, et al. The application accuracy of the neuromate robot:a quantitative comparison with frameless and frame-based surgical localization systems[J]. Computer Aided Surgery,2002,7:90-98 [5] Morgan P S, Carter T, Davis S, et al. The application accuracy of the pathfinder neurosurgical robot .London:Armstrong Heathcare Ltd,2003. http://www.armstrong-healthcare.com [6] Fitzpatrick J M, West J B, Maurer C R Jr. Predicting error in rigid-body point-based registration[J]. IEEE Transactions on Medical Imaging,1998,17(5):694-702 [7] Ziegert J, Datseris P. Basic considerations for robot calibration Proceedings of 1988 IEEE International Conference on Robotics and Automation. New York:IEEE,1988:932-938 [8] Hutchinson S, Hager G D, Corke P I. A tutorial on visual servo control[J]. IEEE Transactions on Robotics and Automation,1996,12(5):651-670 [9] Liu Junchuan, Zhang Yuru, Wang Tianmiao, et al. Neuromaster:a robot system for neurosurgery Proceedings of 2004 IEEE International Conference on Robotics and Automation. Piscataway:IEEE,2004:824-828
  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Article Metrics

    Article views(2495) PDF downloads(1442) Cited by()
    Proportional views
    Related

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return