Accuracy assessment and kinematic calibration of the robotic endoscopic microsurgical system

Lihang Feng; Paul Wilkening; Yunuscan Sevimli; Marcin Balicki; Kevin Olds; Russell H. Taylor

doi:10.1109/EMBC.2016.7591872

Accuracy assessment and kinematic calibration of the robotic endoscopic microsurgical system

Lihang Feng, Paul Wilkening, Yunuscan Sevimli, Marcin Balicki, Kevin Olds, Russell H. Taylor

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper explores the general stereotactic accuracy of the Robotic Endoscopic Microsurgical System (REMS) by calibrating with a standard optical tracking system. Based on a simple yet effective test protocol, the proposed calibration method combines hand-eye calibration with Bernstein polynomials to improve our kinematic pose accuracy.

Original language	English (US)
Title of host publication	2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5091-5094
Number of pages	4
ISBN (Electronic)	9781457702204
DOIs	https://doi.org/10.1109/EMBC.2016.7591872
State	Published - Oct 13 2016
Externally published	Yes
Event	38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016 - Orlando, United States Duration: Aug 16 2016 → Aug 20 2016

Publication series

Name	Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
Volume	2016-October
ISSN (Print)	1557-170X

Other

Other	38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016
Country/Territory	United States
City	Orlando
Period	8/16/16 → 8/20/16

ASJC Scopus subject areas

Signal Processing
Biomedical Engineering
Computer Vision and Pattern Recognition
Health Informatics

Access to Document

10.1109/EMBC.2016.7591872

Cite this

Feng, L., Wilkening, P., Sevimli, Y., Balicki, M., Olds, K., & Taylor, R. H. (2016). Accuracy assessment and kinematic calibration of the robotic endoscopic microsurgical system. In 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016 (pp. 5091-5094). [7591872] (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS; Vol. 2016-October). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/EMBC.2016.7591872

Accuracy assessment and kinematic calibration of the robotic endoscopic microsurgical system. / Feng, Lihang; Wilkening, Paul; Sevimli, Yunuscan; Balicki, Marcin; Olds, Kevin; Taylor, Russell H.

2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 5091-5094 7591872 (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS; Vol. 2016-October).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Feng, L, Wilkening, P, Sevimli, Y, Balicki, M, Olds, K & Taylor, RH 2016, Accuracy assessment and kinematic calibration of the robotic endoscopic microsurgical system. in 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016., 7591872, Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS, vol. 2016-October, Institute of Electrical and Electronics Engineers Inc., pp. 5091-5094, 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016, Orlando, United States, 8/16/16. https://doi.org/10.1109/EMBC.2016.7591872

Feng L, Wilkening P, Sevimli Y, Balicki M, Olds K, Taylor RH. Accuracy assessment and kinematic calibration of the robotic endoscopic microsurgical system. In 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 5091-5094. 7591872. (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS). https://doi.org/10.1109/EMBC.2016.7591872

Feng, Lihang ; Wilkening, Paul ; Sevimli, Yunuscan ; Balicki, Marcin ; Olds, Kevin ; Taylor, Russell H. / Accuracy assessment and kinematic calibration of the robotic endoscopic microsurgical system. 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 5091-5094 (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS).

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Accuracy assessment and kinematic calibration of the robotic endoscopic microsurgical system

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