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• W4309089743 abstract "Pedicle screw insertion with robot assistance dramatically improves surgical accuracy and safety when compared with manual implantation. In developing such a system, hand–eye calibration is an essential component that aims to determine the transformation between a position tracking and robot-arm systems. In this paper, we propose an effective hand–eye calibration method, namely registration-based hand–eye calibration (RHC), which estimates the calibration transformation via point set registration without the need to solve the AX=XB equation. Our hand–eye calibration method consists of tool-tip pivot calibrations in two-coordinate systems, in addition to paired-point matching, where the point pairs are generated via the steady movement of the robot arm in space. After calibration, our system allows for robot-assisted, image-guided pedicle screw insertion. Comprehensive experiments are conducted to verify the efficacy of the proposed hand–eye calibration method. A mean distance deviation of 0.70 mm and a mean angular deviation of 0.68° are achieved by our system when the proposed hand–eye calibration method is used. Further experiments on drilling trajectories are conducted on plastic vertebrae as well as pig vertebrae. A mean distance deviation of 1.01 mm and a mean angular deviation of 1.11° are observed when the drilled trajectories are compared with the planned trajectories on the pig vertebrae." @default.
• W4309089743 created "2022-11-21" @default.
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• W4309089743 date "2022-11-03" @default.
• W4309089743 modified "2023-09-25" @default.
• W4309089743 title "A Novel Point Set Registration-Based Hand–Eye Calibration Method for Robot-Assisted Surgery" @default.
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• W4309089743 doi "https://doi.org/10.3390/s22218446" @default.
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