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	Space registration and practice of a brain surgery robot based on optical localization
	Chen Guodong ; Jia Peifa ; Wang Rongjun
	2010-05-06 ; 2010-05-06
关键词	Practical/ image registration medical image processing medical robotics optical tracking surgery/ space registration brain surgery robot optical localization optical tracking coordinate mapping coordinate calibration/ B7510 Biomedical measurement and imaging B6135 Optical, image and video signal processing C7330 Biology and medical computing C5260B Computer vision and image processing techniques C3390 Robotics
中文摘要	Space registration and coordinate calibration are basic issues in the research of image-guided frameless stereotactic brain surgery robotic system. A practical scheme of brain surgery robot based on optical localization is presented, which makes space registration and calibration more easily, promptly and accurately. The system architecture, operational principle and procedures are introduced. An effective shortcut method of constructing coordinate mapping from computer image model space to robot operating space is studied. The proposed scheme processes space registration based on markers, uses optical tracking technique to sense and correct robot pose, thus greatly improves the precision, facility and intelligence of the system. This study provides theoretical guidance for practical applications.
语种	中文 ; 中文
出版者	China Instrum. Soc. ; China
内容类型	期刊论文
源URL	[http://hdl.handle.net/123456789/10446]
专题	清华大学
推荐引用方式 GB/T 7714	Chen Guodong,Jia Peifa,Wang Rongjun. Space registration and practice of a brain surgery robot based on optical localization[J],2010, 2010.
APA	Chen Guodong,Jia Peifa,&Wang Rongjun.(2010).Space registration and practice of a brain surgery robot based on optical localization..
MLA	Chen Guodong,et al."Space registration and practice of a brain surgery robot based on optical localization".(2010).

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