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An optical tracker based robot registration and servoing method for ultrasound guided percutaneous renal access
文献类型：期刊论文
| 作者 | Dongwen Zhang; Zhicheng Li; Ken Chen; Jing Xiong; Xuping Zhang; Lei Wang |
| 刊名 | BIOMEDICAL ENGINEERING ONLINE
 |
| 出版日期 | 2013 |
| 英文摘要 | Background: Robot-assisted needle steering facilitates the percutaneous renal access (PRA) for their accuracy and consistency over manual operation. However, inaccurate image-robot correspondence and uncertainties in robot parameters make the needle track deviate from the intrarenal target. This paper aims to simplify the image-tracker-robot registration procedure and improves the accuracy of needle alignment for robot assisted ultrasound-guided PRA. Methods: First, a semi-automatic rigid registration is used for the alignment of the preoperative MR volume and the intraoperative orthogonal US slices. Passive markers are mounted both on US probe and robot end-effector, the planned puncture path is transferred from the MR volume frame into optical tracker frame. Tracker-robot correspondence and robot calibration are performed iteratively using a simplified scheme, both position and orientation information are incorporated to estimate the transformation matrix, only several key structural robot parameters and joint zero positions are calibrated for simplicity in solving the inverse kinematic. Furthermore, an optical tracker feedback control is designed for compensating inaccuracies in robot parameters and tracker-robot correspondence, and improving the accuracy of needle alignment. The intervention procedure was implemented by a telemanipulated 5R1P robot, two experiments were conducted to validate the efficiency of robot-tracker registration method and the optical tracker feedback control, robot assisted needle insertion experiment was conducted on kidney phantom to evaluate the system performance. Results: The relative positioning accuracy of needle alignment is 0.24 +/- 0.08 mm, the directional accuracy is 6.78 +/- 1.65 x 10(-4)rad; the needle-target distance of needle insertion is 2.15 +/- 0. 17 mm. The optical tracker feedback control method performs stable against wide range of angular disturbance over (0 similar to 0.4) radians, and the length disturbance over (0 similar to 100) mm. |
| 收录类别 | SCI |
| 原文出处 | http://www.biomedcentral.com/content/pdf/1475-925X-12-47.pdf |
| 语种 | 英语 |
| WOS记录号 | WOS:000320192500001 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/4863]  |
| 专题 | 深圳先进技术研究院_医工所 |
| 作者单位 | BIOMEDICAL ENGINEERING ONLINE |
| 推荐引用方式 GB/T 7714 | Dongwen Zhang,Zhicheng Li,Ken Chen,et al. An optical tracker based robot registration and servoing method for ultrasound guided percutaneous renal access[J]. BIOMEDICAL ENGINEERING ONLINE,2013. |
| APA | Dongwen Zhang,Zhicheng Li,Ken Chen,Jing Xiong,Xuping Zhang,&Lei Wang.(2013).An optical tracker based robot registration and servoing method for ultrasound guided percutaneous renal access.BIOMEDICAL ENGINEERING ONLINE. |
| MLA | Dongwen Zhang,et al."An optical tracker based robot registration and servoing method for ultrasound guided percutaneous renal access".BIOMEDICAL ENGINEERING ONLINE (2013). |
入库方式： OAI收割
来源：深圳先进技术研究院
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