Volume 33 Issue 03
Mar.  2007
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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.

     

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