王田苗, 宗光华, 王志强, 陈梦东. 机器人辅助外科手术定位系统的初步实验与误差分析[J]. 机器人, 1998, 20(1): 55-62.
引用本文: 王田苗, 宗光华, 王志强, 陈梦东. 机器人辅助外科手术定位系统的初步实验与误差分析[J]. 机器人, 1998, 20(1): 55-62.
WANG Tianmiao, ZONG Guanghua, WANG Zhiqiang, CHENG Mendong. PRELIMINARY EXPERIMENTS AND ACCURACY ANALYSIS FOR THE SYSTEM OF ROBOT-ASSISTED LOCATION OF SURGICAL INTEREST[J]. ROBOT, 1998, 20(1): 55-62.
Citation: WANG Tianmiao, ZONG Guanghua, WANG Zhiqiang, CHENG Mendong. PRELIMINARY EXPERIMENTS AND ACCURACY ANALYSIS FOR THE SYSTEM OF ROBOT-ASSISTED LOCATION OF SURGICAL INTEREST[J]. ROBOT, 1998, 20(1): 55-62.

机器人辅助外科手术定位系统的初步实验与误差分析

PRELIMINARY EXPERIMENTS AND ACCURACY ANALYSIS FOR THE SYSTEM OF ROBOT-ASSISTED LOCATION OF SURGICAL INTEREST

  • 摘要: 基于提出的一种新的非接触、非损伤机器人辅助外科手术的定位方法,初步实现了一个原型实验系统.首先介绍了原型系统的结构组成,三维模板的设计要求,然后给出了实验结果,最后分析讨论了影响定位精度的主要因素.系统从原理上讲是可行的,从应用上讲是可能的,但需进一步提高系统的定位精度.实验表明,影响定位精度的主要因素是模板与机器人之间的机械接口尺寸精度、由力传感器与模板重量引起的机器人机构变形、图像畸变的误差以及选取投影点数据的不确定性,其中我们认为改进机械接口尺寸精度是提高系统定位精度的主要途径,这是因为模板上的3个基本标记点是实现医疗图像上的病灶点到实际病人体内病灶点映射变换的关键.

     

    Abstract: Based on our proposed new method of non-contact and non-invasive technique, we have developed a prototype experimental system for measuring three-dimensional position of points of surgical interest. In this paper, the structural model of the system is introduced, a three-dimensional template is designed with several small metal landmarks, and some experimental results are given. Finally the accuracy of location is discussed through analyzing the influence of various factors.This implemented system is successful in principle, and possible in the future application, but it needs to be improved in the precision of locating. From many experiments, we find four major factors affecting the accuracy of the system . They are mechanical interface between the 3D template and the end of PUMA 260 robot, the deformation of the mechanical links caused by the weights of the force sensor and the 3D template mounted on the end of the effector, the errors from medical image distortion and the data uncertainty caused by the selection of the projection points on the images. Among them, the mechanical interface is very important to improve the accuracy of the system, because the transformation matrix created from three landmarks on the 3D template is a key computation for registrating between the target point in medical image and the real symptom point of disease within patient's bady.

     

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