A surface-matching technique for robot-assisted registration.

  title={A surface-matching technique for robot-assisted registration.},
  author={Daniel Glozman and Moshe Shoham and Anath Fischer},
  journal={Computer aided surgery : official journal of the International Society for Computer Aided Surgery},
  volume={6 5},
Successful implementation of robot-assisted surgery (RAS) requires coherent integration of spatial image data with sensing and actuating devices, each having its own coordinate system. Hence, accurate estimation of the geometric relationships between relevant reference frames, known as registration, is a crucial procedure in all RAS applications. The purpose of this paper is to present a new registration scheme, along with the results of an experimental evaluation of a robot-assisted… CONTINUE READING


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