Šuligoj, Filip and Jerbić, Bojan and Šekoranja, Bojan and Vidaković, Josip and Švaco, Marko (2018) Influence of the localization strategy on the accuracy of a neurosurgical robot system. = Influence of the localization strategy on the accuracy of a neurosurgical robot system. Transactions of FAMENA, 42 (2). pp. 27-38. ISSN 1333-1124. Vrsta rada: ["eprint_fieldopt_article_type_article" not defined]. Kvartili JCR: Q4 (2017). Točan broj autora: 5.
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Abstract
Precise navigation of surgical instruments is one of the most important features of autonomous surgical robots. In this paper, we introduce a concept of robot localization strategy and analyse its influence on the overall application error of a robot system for frameless stereotactic neurosurgery named RONNA. Localization strategies utilize specific angles at which the robot can approach a target point, orientations, and types of movement during the procedure of physical space fiducial marker localization and positioning to the target points. The localization strategies developed in this study are a neutral orientation strategy (NOS), an orientation correction strategy (OCS) and a joint displacement minimization strategy (JDMS). To evaluate the robot positioning performance with the localization strategies applied, we performed laboratory phantom measurements using a different number of fiducial markers in the registration procedure. When three, four, and five fiducial markers were used, the application error for the NOS was 1.571±0.256 mm, 1.397±0.283 mm, and 1.327±0.274 mm, and for the OCS, it was 0.429±0.133 mm, 0.284±0.068mm, and 0.260±0.076 mm, respectively. The application error for the JDMS was 0.493±0.176 mm with four and 0.369±0.160 mm with five fiducial markers used.
| Item Type: | Article (["eprint_fieldopt_article_type_article" not defined]) |
|---|---|
| Keywords (Croatian): | medical robotics; localization strategy; accuracy; RONNA |
| Subjects: | TECHNICAL SCIENCE > Mechanical Engineering |
| Divisions: | 900 Department of Robotics and Production System Automation > 920 Chair of Manufacturing and Assembly System Planning |
| Indexed in Web of Science: | Yes |
| Indexed in Current Contents: | No |
| Quartiles: | Q4 (2017) |
| Citations SCOPUS: | 0 (21.09.2018.) |
| Date Deposited: | 21 Sep 2018 11:35 |
| Last Modified: | 26 Oct 2018 10:57 |
| URI: | http://repozitorij.fsb.hr/id/eprint/8798 |
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