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

Whiting School of Engineering

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

4 Scopus citations

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
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). Article 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 et al.
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). doi: 10.1109/EMBC.2016.7591872

Feng, Lihang ; Wilkening, Paul ; Sevimli, Yunuscan et al. / 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).

@inproceedings{12a82e0f7dd44bd7a77952b63dfebda7,

title = "Accuracy assessment and kinematic calibration of the robotic endoscopic microsurgical system",

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.",

author = "Lihang Feng and Paul Wilkening and Yunuscan Sevimli and Marcin Balicki and Kevin Olds and Taylor, {Russell H.}",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016 ; Conference date: 16-08-2016 Through 20-08-2016",

year = "2016",

month = oct,

day = "13",

doi = "10.1109/EMBC.2016.7591872",

language = "English (US)",

series = "Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "5091--5094",

booktitle = "2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016",

}

TY - GEN

T1 - Accuracy assessment and kinematic calibration of the robotic endoscopic microsurgical system

AU - Feng, Lihang

AU - Wilkening, Paul

AU - Sevimli, Yunuscan

AU - Balicki, Marcin

AU - Olds, Kevin

AU - Taylor, Russell H.

PY - 2016/10/13

Y1 - 2016/10/13

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=85009094272&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85009094272&partnerID=8YFLogxK

U2 - 10.1109/EMBC.2016.7591872

DO - 10.1109/EMBC.2016.7591872

M3 - Conference contribution

C2 - 28269413

AN - SCOPUS:85009094272

T3 - Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS

SP - 5091

EP - 5094

BT - 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016

Y2 - 16 August 2016 through 20 August 2016

ER -

Accuracy assessment and kinematic calibration of the robotic endoscopic microsurgical system

Abstract

Publication series

Other

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this