Korean Journal of Computational Design and Engineering (한국CDE학회논문집)

Society for Computational Design and Engineering (한국CDE학회)
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Application of Calibration Techniques to Enhance Accuracy of Markerless Surgical Robotic System for Intracerebral Hematoma Surgery

뇌혈종 제거 수술을 위한 무마커 수술 유도 로봇 시스템의 정확도 향상을 위한 캘리브레이션 기법

  • Park, Kyusic (Center for Bionics, Biomedical Research Institute, Korea Institute of Science and Technology (KIST)) ;
  • Yoon, Hyon Min (Center for Bionics, Biomedical Research Institute, Korea Institute of Science and Technology (KIST)) ;
  • Shin, Sangkyun (Center for Bionics, Biomedical Research Institute, Korea Institute of Science and Technology (KIST)) ;
  • Cho, Hyunchul (Center for Bionics, Biomedical Research Institute, Korea Institute of Science and Technology (KIST)) ;
  • Kim, Youngjun (Center for Bionics, Biomedical Research Institute, Korea Institute of Science and Technology (KIST)) ;
  • Kim, Laehyun (Center for Bionics, Biomedical Research Institute, Korea Institute of Science and Technology (KIST)) ;
  • Lee, Deukhee (Center for Bionics, Biomedical Research Institute, Korea Institute of Science and Technology (KIST))
  • 박규식 (한국과학기술연구원 의공학연구소 바이오닉스연구단) ;
  • 윤현민 (한국과학기술연구원 의공학연구소 바이오닉스연구단) ;
  • 신상균 (한국과학기술연구원 의공학연구소 바이오닉스연구단) ;
  • 조현철 (한국과학기술연구원 의공학연구소 바이오닉스연구단) ;
  • 김영준 (한국과학기술연구원 의공학연구소 바이오닉스연구단) ;
  • 김래현 (한국과학기술연구원 의공학연구소 바이오닉스연구단) ;
  • 이득희 (한국과학기술연구원 의공학연구소 바이오닉스연구단)
  • Received : 2015.03.16
  • Accepted : 2015.04.14
  • Published : 2015.09.01
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Abstract

In this paper, we propose calibration methods that can be applied to the markerless surgical robotic system for Intracerebral Hematoma (ICH) Surgery. This surgical robotic system does not require additional process of patient imaging but only uses CT images that are initially taken for a diagnosis purpose. Furthermore, the system applies markerless registration method other than using stereotactic frames. Thus, in overall, our system has many advantages when compared to other conventional ICH surgeries in that they are non-invasive, much less exposed to radiation exposure, and most importantly reduces a total operation time. In the paper, we specifically focus on the application of calibration methods and their verification which is one of the most critical factors that determine the accuracy of the system. We implemented three applications of calibration methods between the coordinates of robot's end-effector and the coordinates of 3D facial surface scanner, based on the hand-eye calibration method. Phantom tests were conducted to validate the feasibility and accuracy of our proposed calibration methods and the surgical robotic system.

Keywords

References

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