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ABSTRACT: This paper first describes the workflow of the Pathfinder image-guided surgical robot that has been designed to replace the stereotactic frame in neurosurgery, and then details the calibration stages employed in order to achieve submillimetre positioning accuracy of a tool tip. The process uses non-linear parameter identification techniques in conjunction with some procedures for camera calibration, which exploit the fact that the camera is mounted to a calibrated robot arm that executes precise motions.
Proceedings of the Institution of Mechanical Engineers Part H Journal of Engineering in Medicine 01/2010; 224(5):691-713. · 1.21 Impact Factor
