An IGSTK-based surgical navigation system connected with medical robot

Author

Luo, Huoling ; Jia, Fucang ; Zheng, Zhizeng ; Hu, Qingmao ; Xu, Yongzhong

Author_Institution

Shenzhen Institutes of Adv. Technol., Chinese Acad. of Sci., Shenzhen, China

fYear

2010

fDate

28-30 Nov. 2010

Firstpage

49

Lastpage

52

Abstract

A surgical navigation system based on IGSTK (Image-Guided Surgical Toolkit) that guide medical robot to drill pedicle screw into vertebra precisely is presented. The surgical location device used is NDI Polaris Vicra^® optical tracking system and the assistance robot is KUKA^® Robot KR 5 sixx R650. Message communication between the navigation system and KUKA robot is implemented based on OpenIGTLink protocol client-server model. Multiple tracked tools can be tracked automatically by state-machine mechanism in a safe manner. To overcome the line of sight limitation of optical tracking system, a new instrument that we called it two-face instrument model has developed to enlarge the rotation angle of the tracked tool. The experiment showed that the navigation could guide robot to execute precise surgical operation in a simple and safe mode.

Keywords

client-server systems; medical robotics; path planning; robot vision; surgery; KUKA robot; NDI Polaris Vicra optical tracking system; OpenIGTLink protocol client-server model; image-guided surgical toolkit; medical robot; state-machine mechanism; surgical navigation system; two-face instrument model; Calibration; Instruments; Navigation; Protocols; Robot kinematics; Surgery; message communication; robot; surgical navigation; two-face tool;

fLanguage

English

Publisher

ieee

Conference_Titel

Information Computing and Telecommunications (YC-ICT), 2010 IEEE Youth Conference on

Conference_Location

Beijing

Print_ISBN

978-1-4244-8883-4

Type

conf

DOI

10.1109/YCICT.2010.5713149

Filename

5713149