Depth Camera Based Particle Filter for Robotic Osteotomy Navigation

24 Oct 2019Tim ÜbelhörJonas GesenhuesNassim AyoubAli ModabberDirk Abel

Active surgical robots lack acceptance in clinical practice, because they do not offer the flexibility and usability required for a versatile usage: the systems require a large installation space or a complicated registration step, where the preoperative plan is aligned to the patient and transformed to the base frame of the robot. In this paper, a navigation system for robotic osteotomies is designed, which uses the raw depth images from a camera mounted on the flange of a lightweight robot arm... (read more)

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