Terminal tracer equipment based on active light source array for surgical robot(PDF)
《中国医学物理学杂志》[ISSN:1005-202X/CN:44-1351/R]
- Issue:
- 2024年第2期
- Page:
- 220-226
- Research Field:
- 医学信号处理与医学仪器
- Publishing date:
Info
- Title:
- Terminal tracer equipment based on active light source array for surgical robot
- Author(s):
- FENG Yupeng1; 2; ZHANG Jie2; YANG Xinghai1; 2
- 1. School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China 2. Department of Bone Oncology, Shanghai Changzheng Hospital, Naval Medical University, Shanghai 200003, China
- Keywords:
- Keywords: active light source surgical robot navigation and positioning tracer equipment
- PACS:
- R318；R197.39
- DOI:
- DOI:10.3969/j.issn.1005-202X.2024.02.015
- Abstract:
- Abstract: A non-bracket terminal tracer equipment with multi-angle active light source array is developed to reduce the effects of view obstruction on robot navigation. The multiple-angle light source array is established using a large prism and a small prism, and then the positions of the mechanical arm and the tool center point are calculated via the cooperation of binocular cameras. A simple model built with COMSOL software is used to verify the signal coverage of the tracer equipment. The experiments conducted for signal coverage and static positioning demonstrate its effectiveness and stability, suggesting that the tracer equipment can meet the task requirements of the surgical robot.
Last Update: 2024-02-27