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Dynamic Tracking of Minimally Invasive Spine Surgery Robot
Song GL(宋国立); Han JD(韩建达); Zhao YW(赵忆文); Chen, Chen; Yao ZX(姚忠新)
Department机器人学研究室
Conference Name2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)
Conference DateDecember 12-14, 2013
Conference PlaceShenzhen, China
Source PublicationProceeding of the IEEE International Conference on Robotics and Biomimetics (ROBIO)
PublisherIEEE
Publication PlaceNEW YORK
2013
Pages1462-1467
Indexed ByEI ; CPCI(ISTP)
EI Accession number20141717632917
WOS IDWOS:000352739000242
Contribution Rank1
ISBN978-1-4799-2744-9
AbstractIn order to exhibit the surgery instruments in intraoperative image, the tracking system must be introduced so that it may finally achieve the image guide surgery on minimally invasive spine surgery (MISS). To exhibit the tip of the instrument, the transform of the CARM(a device which generates X-ray images) and CT image, the transform of the world and CARM. The more transforms of different space happen, the more errors will be introduced into the system. This paper is focused on the surgery robot tracking problem, especially for the tracking of the position and posture of the surgery instruments. We introduce a method which could establish the robot model of the surgery and show the projection of the surgery instruments on intraoperative images which could help surgeon estimate the relative position of the surgery instrument and patient’s spine.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/13906
Collection机器人学研究室
Corresponding AuthorSong GL(宋国立)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, 110016, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
3.School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China
4.School of Mechanical Engineering, Shenyang Ligong University, Shenyang, 110159, China
Recommended Citation
GB/T 7714
Song GL,Han JD,Zhao YW,et al. Dynamic Tracking of Minimally Invasive Spine Surgery Robot[C]. NEW YORK:IEEE,2013:1462-1467.
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