A “eye-in-body” integrated surgery robot system for stereotactic surgery
Abstract Purpose Current stereotactic surgical robots system relies on cumbersome operations such as calibration, tracking and registration to establish the accurate intraoperative coordinate transformation chain, which makes the system not easy to u...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
Springer International Publishing
2021
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| Online Access: | https://hdl.handle.net/1721.1/131455 |
| _version_ | 1826209651555827712 |
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| author | Li, Liang Wu, Julia Ding, Hui Wang, Guangzhi |
| author2 | Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science |
| author_facet | Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Li, Liang Wu, Julia Ding, Hui Wang, Guangzhi |
| author_sort | Li, Liang |
| collection | MIT |
| description | Abstract
Purpose
Current stereotactic surgical robots system relies on cumbersome operations such as calibration, tracking and registration to establish the accurate intraoperative coordinate transformation chain, which makes the system not easy to use. To overcome this problem, a novel stereotactic surgical robot system has been proposed and validated.
Methods
First, a hand–eye integrated scheme is proposed to avoid the intraoperative calibration between robot arm and motion tracking system. Second, a special reference-tool-based patient registration and tracking method is developed to avoid intraoperative registration. Third, a model-free visual servo method is used to reduce the accuracy requirement of hand–eye relationship and robot kinematic model. Finally, a prototype of the system is constructed and performance tests and a pedicle screw drilling experiment are performed.
Results
The results show that the proposed system has acceptable accuracy. The target positioning error in the plane was − 0.68 ± 0.52 mm and 0.06 ± 0.41 mm. The orientation error was 0.43 ± 0.25°. The pedicle screw drilling experiment shows that the system can complete accurate stereotactic surgery.
Conclusions
The stereotactic surgical robot system described in this paper can perform stereotactic surgery without the intraoperative hand–eye calibration and nor manual registration and can achieve an acceptable position and orientation accuracy while tolerating the errors in the hand–eye coordinate transformation error and the robot kinematics model error. |
| first_indexed | 2024-09-23T14:26:04Z |
| format | Article |
| id | mit-1721.1/131455 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T14:26:04Z |
| publishDate | 2021 |
| publisher | Springer International Publishing |
| record_format | dspace |
| spelling | mit-1721.1/1314552023-03-15T19:13:43Z A “eye-in-body” integrated surgery robot system for stereotactic surgery Li, Liang Wu, Julia Ding, Hui Wang, Guangzhi Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Abstract Purpose Current stereotactic surgical robots system relies on cumbersome operations such as calibration, tracking and registration to establish the accurate intraoperative coordinate transformation chain, which makes the system not easy to use. To overcome this problem, a novel stereotactic surgical robot system has been proposed and validated. Methods First, a hand–eye integrated scheme is proposed to avoid the intraoperative calibration between robot arm and motion tracking system. Second, a special reference-tool-based patient registration and tracking method is developed to avoid intraoperative registration. Third, a model-free visual servo method is used to reduce the accuracy requirement of hand–eye relationship and robot kinematic model. Finally, a prototype of the system is constructed and performance tests and a pedicle screw drilling experiment are performed. Results The results show that the proposed system has acceptable accuracy. The target positioning error in the plane was − 0.68 ± 0.52 mm and 0.06 ± 0.41 mm. The orientation error was 0.43 ± 0.25°. The pedicle screw drilling experiment shows that the system can complete accurate stereotactic surgery. Conclusions The stereotactic surgical robot system described in this paper can perform stereotactic surgery without the intraoperative hand–eye calibration and nor manual registration and can achieve an acceptable position and orientation accuracy while tolerating the errors in the hand–eye coordinate transformation error and the robot kinematics model error. 2021-09-20T17:17:09Z 2021-09-20T17:17:09Z 2019-07-17 2020-09-24T21:15:32Z Article http://purl.org/eprint/type/JournalArticle https://hdl.handle.net/1721.1/131455 en https://doi.org/10.1007/s11548-019-02032-x Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. CARS application/pdf Springer International Publishing Springer International Publishing |
| spellingShingle | Li, Liang Wu, Julia Ding, Hui Wang, Guangzhi A “eye-in-body” integrated surgery robot system for stereotactic surgery |
| title | A “eye-in-body” integrated surgery robot system for stereotactic surgery |
| title_full | A “eye-in-body” integrated surgery robot system for stereotactic surgery |
| title_fullStr | A “eye-in-body” integrated surgery robot system for stereotactic surgery |
| title_full_unstemmed | A “eye-in-body” integrated surgery robot system for stereotactic surgery |
| title_short | A “eye-in-body” integrated surgery robot system for stereotactic surgery |
| title_sort | eye in body integrated surgery robot system for stereotactic surgery |
| url | https://hdl.handle.net/1721.1/131455 |
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