A Precise Calibration Method for the Robot-Assisted Percutaneous Puncture System
The precision and stability of the Robot-Assisted Percutaneous Puncture (RAPP) system have become increasingly crucial with the widespread integration of robotic technology in the field of medicine. The accurate calibration of the RAPP system prior to surgery significantly influences target position...
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-12-01
|
| Series: | Electronics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2079-9292/12/23/4857 |
| _version_ | 1797400267646304256 |
|---|---|
| author | Jinbiao Li Minghui Li Quan Zeng Cheng Qian Tao Li Shoujun Zhou |
| author_facet | Jinbiao Li Minghui Li Quan Zeng Cheng Qian Tao Li Shoujun Zhou |
| author_sort | Jinbiao Li |
| collection | DOAJ |
| description | The precision and stability of the Robot-Assisted Percutaneous Puncture (RAPP) system have become increasingly crucial with the widespread integration of robotic technology in the field of medicine. The accurate calibration of the RAPP system prior to surgery significantly influences target positioning performance. This study proposes a novel system calibration method that simultaneously addresses system hand–eye calibration and robot kinematic parameters calibration, thereby enhancing the surgery success rate and ensuring patient safety. Initially, a Closed-loop Hand–eye Calibration (CHC) method is employed to rapidly establish transformation relationships among system components. These CHC results are then integrated with nominal robot kinematic parameters to preliminarily determine the system calibration parameters. Subsequently, a hybrid algorithm, combining the regularized Levenberg–Marquardt (LM) algorithm and a particle filtering algorithm, is utilized to accurately estimate the system calibration parameters in stages. Numerical simulations and puncture experiments were conducted using the proposed system calibration method and other comparative methods. The experimental results revealed that, among several comparative methods, the approach presented in this paper yields the greatest improvement in the puncture accuracy of the RAPP system, demonstrating the accuracy and effectiveness of this method. In conclusion, this calibration method significantly contributes to enhancing the precision, operational capability, and safety of the RAPP system in practical applications. |
| first_indexed | 2024-03-09T01:53:05Z |
| format | Article |
| id | doaj.art-94ea02c59d2b480fab3bde9e47c65ecb |
| institution | Directory Open Access Journal |
| issn | 2079-9292 |
| language | English |
| last_indexed | 2024-03-09T01:53:05Z |
| publishDate | 2023-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Electronics |
| spelling | doaj.art-94ea02c59d2b480fab3bde9e47c65ecb2023-12-08T15:14:16ZengMDPI AGElectronics2079-92922023-12-011223485710.3390/electronics12234857A Precise Calibration Method for the Robot-Assisted Percutaneous Puncture SystemJinbiao Li0Minghui Li1Quan Zeng2Cheng Qian3Tao Li4Shoujun Zhou5College of Mechanical and Electrical Engineering, Shaanxi University of Science & Technology, Xi’an 710021, ChinaCollege of Mechanical and Electrical Engineering, Shaanxi University of Science & Technology, Xi’an 710021, ChinaShenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, ChinaShenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, ChinaShenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, ChinaShenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, ChinaThe precision and stability of the Robot-Assisted Percutaneous Puncture (RAPP) system have become increasingly crucial with the widespread integration of robotic technology in the field of medicine. The accurate calibration of the RAPP system prior to surgery significantly influences target positioning performance. This study proposes a novel system calibration method that simultaneously addresses system hand–eye calibration and robot kinematic parameters calibration, thereby enhancing the surgery success rate and ensuring patient safety. Initially, a Closed-loop Hand–eye Calibration (CHC) method is employed to rapidly establish transformation relationships among system components. These CHC results are then integrated with nominal robot kinematic parameters to preliminarily determine the system calibration parameters. Subsequently, a hybrid algorithm, combining the regularized Levenberg–Marquardt (LM) algorithm and a particle filtering algorithm, is utilized to accurately estimate the system calibration parameters in stages. Numerical simulations and puncture experiments were conducted using the proposed system calibration method and other comparative methods. The experimental results revealed that, among several comparative methods, the approach presented in this paper yields the greatest improvement in the puncture accuracy of the RAPP system, demonstrating the accuracy and effectiveness of this method. In conclusion, this calibration method significantly contributes to enhancing the precision, operational capability, and safety of the RAPP system in practical applications.https://www.mdpi.com/2079-9292/12/23/4857percutaneous puncturesystem calibrationparameters identificationLevenberg–Marquardtparticle filter |
| spellingShingle | Jinbiao Li Minghui Li Quan Zeng Cheng Qian Tao Li Shoujun Zhou A Precise Calibration Method for the Robot-Assisted Percutaneous Puncture System Electronics percutaneous puncture system calibration parameters identification Levenberg–Marquardt particle filter |
| title | A Precise Calibration Method for the Robot-Assisted Percutaneous Puncture System |
| title_full | A Precise Calibration Method for the Robot-Assisted Percutaneous Puncture System |
| title_fullStr | A Precise Calibration Method for the Robot-Assisted Percutaneous Puncture System |
| title_full_unstemmed | A Precise Calibration Method for the Robot-Assisted Percutaneous Puncture System |
| title_short | A Precise Calibration Method for the Robot-Assisted Percutaneous Puncture System |
| title_sort | precise calibration method for the robot assisted percutaneous puncture system |
| topic | percutaneous puncture system calibration parameters identification Levenberg–Marquardt particle filter |
| url | https://www.mdpi.com/2079-9292/12/23/4857 |
| work_keys_str_mv | AT jinbiaoli aprecisecalibrationmethodfortherobotassistedpercutaneouspuncturesystem AT minghuili aprecisecalibrationmethodfortherobotassistedpercutaneouspuncturesystem AT quanzeng aprecisecalibrationmethodfortherobotassistedpercutaneouspuncturesystem AT chengqian aprecisecalibrationmethodfortherobotassistedpercutaneouspuncturesystem AT taoli aprecisecalibrationmethodfortherobotassistedpercutaneouspuncturesystem AT shoujunzhou aprecisecalibrationmethodfortherobotassistedpercutaneouspuncturesystem AT jinbiaoli precisecalibrationmethodfortherobotassistedpercutaneouspuncturesystem AT minghuili precisecalibrationmethodfortherobotassistedpercutaneouspuncturesystem AT quanzeng precisecalibrationmethodfortherobotassistedpercutaneouspuncturesystem AT chengqian precisecalibrationmethodfortherobotassistedpercutaneouspuncturesystem AT taoli precisecalibrationmethodfortherobotassistedpercutaneouspuncturesystem AT shoujunzhou precisecalibrationmethodfortherobotassistedpercutaneouspuncturesystem |