Localization and tracking technologies for medical robotics
N. Glossop, Queen’s University, Canada
The general requirements for medical position sensors for use in robotic surgical navigation systems are reviewed, including accuracy, form factors, update rate, degrees of freedom, working envelope and patient safety. position sensors are described that are currently in use to accurately and unobtrusively track the location and potentially the orientation of several targets affixed to the robot’s end-effector or to a surgical instrument; systems under development are also mentioned. Technologies described comprise external mechanical linkages, optical sensors, electromagnetic systems, fiber-optic based systems, global positioning ...