基于FBG传感器的柔性针机器人自动标定系统的研究。

... International Symposium on Medical Robotics. International Symposium on Medical Robotics Pub Date : 2021-11-01 DOI:10.1109/ismr48346.2021.9661542

Kefan Song, Dimitri A Lezcano, Ge Sun, Jin Seob Kim, Iulian I Iordachita

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引用次数: 4

摘要

在前列腺活检过程中使用光纤布拉格光栅(FBG)传感针已经有了很多研究，但研究中使用的所有光纤光栅针都需要校准，这既耗时又容易出现人为错误。在这项工作中，开发了一个半自动机器人系统来执行光纤光栅针校准。与手动校准结果相比，机器人系统能够以与经验丰富的手动操作员相似的精度校准FBG针，从而减少针校准过程中的时间成本。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

Towards Automatic Robotic Calibration System for Flexible Needles with FBG Sensors.

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Towards Automatic Robotic Calibration System for Flexible Needles with FBG Sensors.

There has been much research exploring the use of fiber Bragg grating (FBG)-sensorized needles in the prostate biopsy procedure, but all FBG needles used in the research need to be calibrated, which is time consuming and prone to human errors. In this work, a semi-automatic robotic system was developed to perform FBG needle calibration. Compared to manual calibration results, the robotic system is able to calibrate FBG needles with the similar level of accuracy as achieved by an experienced manual operator, thus reducing the time cost during the needle calibration process.

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... International Symposium on Medical Robotics. International Symposium on Medical Robotics

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