Stochastic approach to error estimation for image-guided robotic systems

Tamás Haidegger, Sándor Gyori, Balázs Benyó, Zoltán Benyó

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

Image-guided surgical systems and surgical robots are primarily developed to provide patient safety through increased precision and minimal invasiveness. Even more, robotic devices should allow for refined treatments that are not possible by other means. It is crucial to determine the accuracy of a system, to define the expected overall task execution error. A major step toward this aim is to quantitatively analyze the effect of registration and tracking-series of multiplication of erroneous homogeneous transformations. First, the currently used models and algorithms are introduced along with their limitations, and a new, probability distribution based method is described. The new approach has several advantages, as it was demonstrated in our simulations. Primarily, it determines the full 6 degree of freedom accuracy of the point of interest, allowing for the more accurate use of advanced application-oriented concepts, such as Virtual Fixtures. On the other hand, it becomes feasible to consider different surgical scenarios with varying weighting factors.

Original languageEnglish
Title of host publication2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10
Pages984-987
Number of pages4
DOIs
Publication statusPublished - Dec 1 2010
Event2010 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10 - Buenos Aires, Argentina
Duration: Aug 31 2010Sep 4 2010

Publication series

Name2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10

Other

Other2010 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10
CountryArgentina
CityBuenos Aires
Period8/31/109/4/10

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ASJC Scopus subject areas

  • Biomedical Engineering
  • Computer Vision and Pattern Recognition
  • Signal Processing
  • Health Informatics

Cite this

Haidegger, T., Gyori, S., Benyó, B., & Benyó, Z. (2010). Stochastic approach to error estimation for image-guided robotic systems. In 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10 (pp. 984-987). [5627624] (2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10). https://doi.org/10.1109/IEMBS.2010.5627624