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 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
ISBN (Electronic)9781457702204
DOIs
StatePublished - Oct 13 2016
Externally publishedYes
Event38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2016 - Orlando, United States
Duration: Aug 16 2016Aug 20 2016

Publication series

NameProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
Volume2016-October
ISSN (Print)1557-170X

Other

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

ASJC Scopus subject areas

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

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