Accuracy assessment and kinematic calibration of the robotic endoscopic microsurgical system.

Lihang Feng,Paul Wilkening,Yunuscan Sevimli,Marcin Balicki,Kevin C Olds,Russell H Taylor

2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)（2016）

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摘要

This paper explores the general stereotactic accuracy of the Robotic Endoscopic Microsurgical System (REMS) by calibrating with a standard optical tracking system. Based on a simple yet effective test protocol, the proposed calibration method combines hand-eye calibration with Bernstein polynomials to improve our kinematic pose accuracy.

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关键词

Algorithms,Biomechanical Phenomena,Calibration,Endoscopy,Humans,Larynx,Microsurgery,Paranasal Sinuses,Phantoms, Imaging,Robotic Surgical Procedures,Vocal Cords

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