SPACE CALIBRATION OF THE ROBOT SYSTEM IN PUNCTURE SURGERY

摘要

Traditional manual puncture surgery has low positioning accuracy and poor stability. Moreover, the computed tomography method can cause strong radiation damage. Therefore, this study intends to establish a robotic system in puncture surgery, which is based on optical registration to improve safety, accuracy, and efficiency. As the accuracy of surgical space calibration influences the accuracy of the surgical system, this study proposes an improved automatic calibration algorithm for linear rotation. The algorithm can reduce error caused by manual calibration and system noise. Recalibration is not required provided that the pose of the digital reference frame is unchanged, thereby improving accuracy and efficiency. The proposed algorithm is experimentally verified to prove its effectiveness. Results show that the average errors of position and posture are 0.25[Formula: see text]mm and 0.2 ∘ , respectively. The accuracy of calibration fully meets the needs of surgery.