NDLI: Development of active IR-based surgical marker tracking and positioning systems

Content Provider	IEEE Xplore Digital Library
Author	Chung-Hsien Kuo Fang-Chun Huang Fang-Chung Yang
Copyright Year	2005
Description	Author affiliation: Distributed Control & Appl. Lab., Chang-Gung Univ., Taiwan (Chung-Hsien Kuo; Fang-Chun Huang; Fang-Chung Yang)
Abstract	This paper presents an active vision based space-positioning robot (AVBSPR) for surgical navigation applications. The development of the proposed navigation robot consists of a five-axis SCROBOT-ER VII Robot, a stereoscopic based eye-in-hand image capture module and a set of infrared (IR) based surgical marker emitters. To increase the navigation space and to determine the best image capture orientation, a fuzzy inference engine is constructed to dynamically track the moving surgical markers. On the other hand, the stereoscopic image coordinates are used to calculate the 3D space coordinates of the surgical markers for surgical navigation applications. Finally, a prototype system had been implemented, and several experimental tests had been done. The experimental results showed that the robot tracks the surgical markers well, and the positioning error is around 5 mm within 2000 mm distance operating ranges.
Starting Page	2443
Ending Page	2448
File Size	768527
Page Count	6
File Format	PDF
ISBN	0780392981
DOI	10.1109/ICSMC.2005.1571515
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-10-12
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Surgery Navigation Robot kinematics Orbital robotics Content addressable storage Target tracking Medical robotics Servomechanisms Fuzzy logic Robot vision systems fuzzy logic Image servo tracking stereoscopic image capture active vision system surgical space positioning
Content Type	Text
Resource Type	Article

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