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- G Deacon, A Harwood, J Holdback, D Maiwand, M Pearce, I Reid, M Street, and J Taylor.
- Robotics, Vision and Graphics Ltd, Reigate, UK. gedeacon@btinternet.com
- Proc Inst Mech Eng H. 2010 Jan 1; 224 (5): 691-713.
AbstractThis paper first describes the workflow of the Pathfinder image-guided surgical robot that has been designed to replace the stereotactic frame in neurosurgery, and then details the calibration stages employed in order to achieve submillimetre positioning accuracy of a tool tip. The process uses non-linear parameter identification techniques in conjunction with some procedures for camera calibration, which exploit the fact that the camera is mounted to a calibrated robot arm that executes precise motions.
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