Accuracy enhancement of a surgical robot system using a Bi-planar fluoroscopy

Abstract

In the field of industrial robotics, there are many different accuracy enhancement methods to reduce the pose error of robot systems. Medical robot systems also require highly accurate positioning during operation. Therefore, medical robot systems employ a variety of methods to increase accuracy. Generally, a calibration method is used in order to enhance accuracy in the robot. Optical system as a measurement device has the advantage of high resolution, large workspace, and contactless measurement. In this paper, we conduct kinematic calibration of a surgical robot. Also, a macromicro robot system for enhancing the accuracy of the surgical robot system is proposed. Finally, the assessment of the accuracy enhancement for the surgical robot is conducted by a bi-planar fluoroscopy system. Phantom experiments employing the developed imageguided robotic surgery system are performed to show the enhancement of position accuracy.