典型文献
Development of a novel hand-eye calibration for intuitive control of minimally invasive surgical robot
文献摘要：
Robotic-assisted surgical system has introduced a powerful platform through dexterous instrument and hand-eye coordination intuitive control.The knowledge of laparoscopic vision is a crucial piece of information for robot-assisted minimally invasive surgery focusing on improved surgical outcomes.Obtaining the transformation with respect to the laparoscope and robot slave arm frames using hand-eye calibration is essential,which is a key component for developing intuitive control algorithm.We proposed a novel two-step modified dual quaternion for hand-eye calibration in this study.The dual quaternion was exploited to solve the hand-eye calibration simultaneously and powered by an iteratively separate solution.The obtained hand-eye calibration result was applied to the intuitive control by using the hand-eye coordination criterion.Promising simulations and experimental studies were conducted to evaluate the proposed method on our surgical robot system.We extensively compared the proposed method with state-of-the-art methods.Results demonstrate this method can improve the calibration accuracy.The effectiveness of the intuitive control algorithm was quantitatively evaluated,and an improved hand-eye calibration method was developed.The relationship between laparoscope and robot kinematics can be established for intuitive control.
文献关键词：
中图分类号：
作者姓名：
Yanwen SUN;Bo PAN;Yili FU
作者机构：
State Key Laboratory of Robotics and Systems,Harbin Institute of Technology,Harbin 150001,China
文献出处：
引用格式：
[1]Yanwen SUN;Bo PAN;Yili FU-.Development of a novel hand-eye calibration for intuitive control of minimally invasive surgical robot)[J].机械工程前沿,2022(03):88-105
A类：
laparoscope
B类：
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AB值：
0.493442
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