By Topic

A new real-time method for distortion correction in surgical robot positioning systems

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

8 Author(s)
Tingfang Yan ; Shenzhen Inst. of Adv. Technol., Chinese Acad. of Sci., Shenzhen, China ; Ning Wei ; Qing He ; Wei Liu
more authors

A surgical robot usually utilizes a small marker ball to implement positioning task. However, a tough problem of this system is that images gathered in this system are always distorted, which reduces the accuracy of our positioning. Conventional distortion correction methods have to compute the whole image before determine a certain point's ideal position, which is time consuming and cannot meet the system's real-time requirement. So in this paper, a novel correction method is proposed. It is distinguished from the conventional methods in its real-time property. This novel method analyzes the distortion model, to establish an equation between the distorted points and the distortion-free points. Then an algorithm based on fixed point theorem is applied to solve this high order equation. Experiments with explicit data show that this novel method has about the same correction accuracy as the conventional methods but with much less time, totally meet the real-time requirement.

Published in:

Information and Automation (ICIA), 2011 IEEE International Conference on

Date of Conference:

6-8 June 2011