![](/images/graphics-bg.png)
Spatial Registration for a Three-Arm Robot Assisted Mandible Reconstruction Surgery
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-07-26
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract EN
The three-arm surgical robot system assisted mandible reconstruction surgery (TMR-MRS) is developed to repair the mandible defects caused by congenital defect, trauma, or acquired disease.
The surgical robot system is divided into four parts, including 3D reconstructed image subsystem, robotic subsystem, optical measurement subsystem, and patient subsystem.
The spatial registration based on quaternion is proposed to obtain the transformation relationship between four surgical subsystems.
A method of hand-eye coordination is presented to control the end-effector of the robot arm to target position according to surgical planning.
A least square error criterion is developed to optimize and compensate the hand-eye coordination method.
In addition, the position of fibular implant in the robot space is calculated when it is grasped by end-effector of robot middle arm.
Finally, the positioning accuracy tests and skull model experiments were conducted to evaluate the function of the surgical robot system.
The results validate its feasibility and are consistent with the preoperative surgical planning.
American Psychological Association (APA)
Wang, Yonggui& Duan, Xingguang. 2015. Spatial Registration for a Three-Arm Robot Assisted Mandible Reconstruction Surgery. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-10.
https://search.emarefa.net/detail/BIM-1074473
Modern Language Association (MLA)
Wang, Yonggui& Duan, Xingguang. Spatial Registration for a Three-Arm Robot Assisted Mandible Reconstruction Surgery. Mathematical Problems in Engineering No. 2015 (2015), pp.1-10.
https://search.emarefa.net/detail/BIM-1074473
American Medical Association (AMA)
Wang, Yonggui& Duan, Xingguang. Spatial Registration for a Three-Arm Robot Assisted Mandible Reconstruction Surgery. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-10.
https://search.emarefa.net/detail/BIM-1074473
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1074473