A new hand-eye calibration approach for fracture reduction robot.

Journal: Computer assisted surgery (Abingdon, England)
PMID: 28938847

Abstract

OBJECTIVE: The hand-eye calibration is used to determine the transformation between the end-effector and the camera marker of the robot. But the robot movement in traditional method would be time-consuming, inaccurate and even unavailable in some conditions. The method presented in this article can complete the calibration without any movement and is more suitable in clinical applications.

Authors

  • Lifeng Wang
    a School of Mechanical Engineering and Automation , Beihang University , Beijing , China.
  • Tianmiao Wang
  • Peifu Tang
    b Department of Orthopaedics , Chinese PLA General Hospital , Beijing , China.
  • Lei Hu
    a School of Mechanical Engineering and Automation , Beihang University , Beijing , China.
  • Wenyong Liu
    c School of Biological Science and Medical Engineering , Beihang University , Beijing , China.
  • Zhonghao Han
    a School of Mechanical Engineering and Automation , Beihang University , Beijing , China.
  • Ming Hao
    Department of Oral and Maxillofacial Surgery Hospital of Stomatology Jilin University Changchun China.
  • Hongpeng Liu
    a School of Mechanical Engineering and Automation , Beihang University , Beijing , China.
  • Kun Wang
    CAS Key Laboratory of Molecular Imaging, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China.
  • Yanpeng Zhao
    b Department of Orthopaedics , Chinese PLA General Hospital , Beijing , China.
  • Na Guo
    Key Laboratory of Forest Plant Ecology, Ministry of Education, Northeast Forestry University, 150040 Harbin, China. guona_910817@163.com.
  • Yanxiang Cao
    b Department of Orthopaedics , Chinese PLA General Hospital , Beijing , China.
  • Changsheng Li

Keywords

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