Research status of ultrasonic calibration technology and phantom of puncture robot
The ultrasonic calibration technology and its different calibration models of ultrasound-guided puncture surgical robots were analyzed and studied.Firstly,the advantages and shortcomings of magnetic navigation and positioning systems,optical navigation and positioning systems,and optical-magnetic cooperative navigation and positioning systems were compared.Then the ultrasonic calibration algorithms were introduced,and the research status of the point model,line model,surface model,and non-calibrated model were reviewed.Finally,various calibration methods were compared in terms of precision,accuracy,difficulties of operation and applicability.
万方数据
维普
