TY - GEN
T1 - Development of image servo tracking robot for the surgical space positioning system
AU - Kuo, Chung Hsien
AU - Tsai, Yu Lin
AU - Huang, Fang Chun
AU - Lee, Ming Yih
PY - 2004
Y1 - 2004
N2 - This paper presents the development of image servo-tracking robot, which is used for the surgical space position systems. The proposed surgical navigation robot plays an important role to the computer aided surgery (CAS), since it provides the patient's space coordinate during surgical navigation stage in real-time. Especially, the proposed active image servo-tracking based surgical navigation robot can track the surgical marker to extend the navigation space automatically. The proposed surgical navigation robot system consists of the in-lab design dual-axis eye-in-hand robot (EIHR), digital signal processor (DSP) based EIHR motion controller, image servo-tracking controller and space positioning software module. Especially, the image recognition module, fuzzy membership functions and fuzzy rules are constructed as the EIHR intelligent motion controller to dynamically track the surgical marker. Finally, the EIHR prototype had been finished, and the experiment results showed that proposed EIHR achieved 1.7 mm position error within 500 mm operation range.
AB - This paper presents the development of image servo-tracking robot, which is used for the surgical space position systems. The proposed surgical navigation robot plays an important role to the computer aided surgery (CAS), since it provides the patient's space coordinate during surgical navigation stage in real-time. Especially, the proposed active image servo-tracking based surgical navigation robot can track the surgical marker to extend the navigation space automatically. The proposed surgical navigation robot system consists of the in-lab design dual-axis eye-in-hand robot (EIHR), digital signal processor (DSP) based EIHR motion controller, image servo-tracking controller and space positioning software module. Especially, the image recognition module, fuzzy membership functions and fuzzy rules are constructed as the EIHR intelligent motion controller to dynamically track the surgical marker. Finally, the EIHR prototype had been finished, and the experiment results showed that proposed EIHR achieved 1.7 mm position error within 500 mm operation range.
KW - Eye-in-hand robot
KW - Image servo tracking
KW - Stereoscopic surgical marker positioning
KW - Surgical assisted robot
UR - http://www.scopus.com/inward/record.url?scp=15744376037&partnerID=8YFLogxK
U2 - 10.1109/ICSMC.2004.1401234
DO - 10.1109/ICSMC.2004.1401234
M3 - 会议稿件
AN - SCOPUS:15744376037
SN - 0780385667
T3 - Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
SP - 4462
EP - 4467
BT - 2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004
T2 - 2004 IEEE International Conference on Systems, Man and Cybernetics, SMC 2004
Y2 - 10 October 2004 through 13 October 2004
ER -