Accuracy assessment and kinematic calibration of the robotic endoscopic microsurgical system

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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish (US)
Title of host publication2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5091-5094
Number of pages4
Volume2016-October
ISBN (Electronic)9781457702204
DOIs
Publication statusPublished - Oct 13 2016
Event38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016 - Orlando, United States
Duration: Aug 16 2016Aug 20 2016

Other

Other38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016
CountryUnited States
CityOrlando
Period8/16/168/20/16

    Fingerprint

ASJC Scopus subject areas

  • Signal Processing
  • Biomedical Engineering
  • Computer Vision and Pattern Recognition
  • Health Informatics

Cite this

Feng, L., Wilkening, P., Sevimli, Y., Balicki, M., Olds, K. C., & 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 (Vol. 2016-October, pp. 5091-5094). [7591872] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/EMBC.2016.7591872