ArticleSensors (Basel, Switzerland)2022
A Novel Point Set Registration-Based Hand-Eye Calibration Method for Robot-Assisted Surgery.
Article in Sensors (Basel, Switzerland), 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 4 papers.
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Who cites it
4 citing papers in PubMed, 7 citations in OpenAlex.
- Automatic system calibration for orthognathic robot system.International journal of computer assisted radiology and surgery · 2026Article
- Robot-Assisted Augmented Reality (AR)-Guided Surgical Navigation for Periacetabular Osteotomy.Sensors (Basel, Switzerland) · 2024Article
- An EM-Tracked Approach for Calibrating the 3D Pose of Flexible Endoscopes.Annals of biomedical engineering · 2024Article
- Submillimeter-Accurate Markerless Hand-Eye Calibration Based on a Robot's Flange Features.Sensors (Basel, Switzerland) · 2024Article
Corrections and comments
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Authors and funding
4 authors at 1 institution in 1 country.
Funding
Abstract
Pedicle screw insertion with robot assistance dramatically improves surgical accuracy and safety when compared with manual implantation. In developing such a system, hand-eye calibration is an essential component that aims to determine the transformation between a position tracking and robot-arm systems. In this paper, we propose an effective hand-eye calibration method, namely registration-based hand-eye calibration (RHC), which estimates the calibration transformation via point set registration without the need to solve the AX=XB equation. Our hand-eye calibration method consists of tool-tip pivot calibrations in two-coordinate systems, in addition to paired-point matching, where the point pairs are generated via the steady movement of the robot arm in space. After calibration, our system allows for robot-assisted, image-guided pedicle screw insertion. Comprehensive experiments are conducted to verify the efficacy of the proposed hand-eye calibration method. A mean distance deviation of 0.70 mm and a mean angular deviation of 0.68° are achieved by our system when the proposed hand-eye calibration method is used. Further experiments on drilling trajectories are conducted on plastic vertebrae as well as pig vertebrae. A mean distance deviation of 1.01 mm and a mean angular deviation of 1.11° are observed when the drilled trajectories are compared with the planned trajectories on the pig vertebrae.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.