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Localization error compensation of percutaneous surgery robot based on magnetic positioner | IEEE Conference Publication | IEEE Xplore

Localization error compensation of percutaneous surgery robot based on magnetic positioner


Abstract:

The percutaneous surgery robot is an important research field of surgery robot applications. In this paper, precise localization of the robot manipulator is achieved by u...Show More

Abstract:

The percutaneous surgery robot is an important research field of surgery robot applications. In this paper, precise localization of the robot manipulator is achieved by using magnetic navigation technology to determine the spatial relationship between the magnetic field and the robot manipulator, a method of calculating optimal registration matrix by using singular value decomposition is proposed. And a method of spatial interpolation is used to compensate the positioning error, so as to improve the localization accuracy and realize integration of robot space and magnetic space.
Date of Conference: 05-08 December 2017
Date Added to IEEE Xplore: 26 March 2018
ISBN Information:
Conference Location: Macau, Macao

References

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