A fast, accurate and uncalibrated robotic puncture method
ShangHong Li, Qiwan Wang, Biao Yan, Rongqian Yang, Yinwei Zhan- Computer Science Applications
- Biophysics
- Surgery
Abstract
Background
Robotic puncture system (RPS) consists of an optical tracking system (OTS) and a robotic arm gripping the puncture needle. Typically, the RPS requires hand‐eye calibration before the surgery in order to obtain the relative position between the OTS and the robotic arm. However, if there is any displacement or angular deviation in either the robotic arm or the OTS, the calibration results become invalid, necessitating recalibration.
Methods
We propose an uncalibrated robotic puncture method that does not rely on the hand‐eye relationship of the RPS. By constructing angle and position graph jacobian matrices respectively, and employing Square Root Cubature Kalman Filter for online estimation. This enables obtaining control variables for the robot to perform puncture operations.
Results
In simulation experiments, our method achieves an average error of 1.3495 mm and an average time consumption of 39.331 s.
Conclusions
Experimental results indicate that our method possesses high accuracy, low time consumption, and strong robustness.