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Pacific-Asia Workshop on Computational Intelligence and Industrial Application, IEEE (2008)
Dec. 19, 2008 to Dec. 20, 2008
ISBN: 978-0-7695-3490-9
pp: 451-455
ABSTRACT
The system structure and operation process of the Minimally Invasive Surgery Robot based on vision location technology are expounded. The three- dimensional location problem of robot’s hand-eyes vision system is lucubrated, whose core idea is directly putting the image coordinate mapped into the robot’s radical coordinate and getting the system parameter as a whole and not separately calculating every parameter of camera inner. According to the basic principal of three-dimensional vision, the there-dimensional vision model and camera calibrating model are set up and the vision location system of the Minimally Invasive Surgery Robot is designed. The experiment proves that the method has a better location effect and analyzes the reason of causing the error.
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CITATION
Zhang Yan-li, Yang Jia, Song Ye-xin, Li Zhi-jun, "Research of Positioning of Minimally Invasive Surgery Robot Based on Monocular Vision", Pacific-Asia Workshop on Computational Intelligence and Industrial Application, IEEE, vol. 01, no. , pp. 451-455, 2008, doi:10.1109/PACIIA.2008.139
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