Automatic robot-world calibration in an optical-navigated surgical robot system and its application for oral implant placement.

Journal: International journal of computer assisted radiology and surgery
Published Date: Jul 26, 2020

Abstract

PURPOSE: Robot-world calibration, used to precisely determine the spatial relation between optical tracker and robot, is regarded as an essential step for optical-navigated surgical robot system to improve the surgical accuracy. However, these methods are complicated with numerous computation. Therefore, a more efficient method of a robot-world calibration is necessary.

Authors

  • Yang Li
    Occupation of Chinese Center for Disease Control and Prevention, Beijing, China.
  • Junlei Hu
    Room 805, School of Mechanical Engineering, Shanghai Jiao Tong University, Dongchuan Road 800, Minhang District, Shanghai, 200240, China.
  • Baoxin Tao
    Department of 2nd Dental Center, Shanghai Ninth People's Hospital, College of Stomatology, Shanghai Jiao Tong University School of Medicine; National Clinical Research Center for Oral Diseases; Shanghai Key Laboratory of Stomatology & Shanghai Research Institute of Stomatology, Shanghai, China.
  • Dedong Yu
    Department of 2nd Dental Center, Shanghai Ninth People's Hospital, College of Stomatology, Shanghai Jiao Tong University School of Medicine; National Clinical Research Center for Oral Diseases; Shanghai Key Laboratory of Stomatology & Shanghai Research Institute of Stomatology, Shanghai, China.
  • Yihan Shen
    Department of 2nd Dental Center, Shanghai Ninth People's Hospital, College of Stomatology, Shanghai Jiao Tong University School of Medicine; National Clinical Research Center for Oral Diseases; Shanghai Key Laboratory of Stomatology & Shanghai Research Institute of Stomatology, Shanghai, China.
  • Shengchi Fan
    Department of Second Dental Clinic and Oral Implantology, Ninth People's Hospital, College of Stomatology, Shanghai Jiao Tong University, School of Medicine, National Clinical Research Center for Oral Disease, Shanghai Key Laboratory of Stomatology & Shanghai Research Institute of Stomatology, 639, Zhizaoju Road, Shanghai 200011, China.
  • Yiqun Wu
    Department of Second Dental Clinic and Oral Implantology, Ninth People's Hospital, College of Stomatology, Shanghai Jiao Tong University, School of Medicine, National Clinical Research Center for Oral Disease, Shanghai Key Laboratory of Stomatology & Shanghai Research Institute of Stomatology, 639, Zhizaoju Road, Shanghai 200011, China.
  • Xiaojun Chen
    Department of Gynecology, Obstetrics and Gynecology Hospital of Fudan University, Shanghai, China.

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