Accuracy study of a binocular-stereo-vision-based navigation robot for minimally invasive interventional procedures

Figure 5 Workflow of robot guided puncture. Before placement, computed tomography images of operation object with four visual markers on skin were obtained and uploaded to the computer system. The robot arm and stereo camera were placed beside the operation table. After locating the markers on operation object and robot arm with camera, registration process was complicated. Puncture trajectory was designed with the target point and entry point on the insertion line. Then, robot arm was commanded to move to specific position. Needle was inserted through the guiding device at the terminal of robot arm to certain depth.