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Background
Robotic puncture system (RPS) consists of an optical tracking system (OTS) and a robotic arm gripping the puncture needle. Typically, the RPS requires hand‐eye calibration before the surgery in order to obtain the relative position between the OTS and the robotic arm. However, if there is any displacement or angular deviation in either the robotic arm or the OTS, the calibration results...
Background
Robotic puncture system increasingly demands stringent standard in target location accuracy. The positional and orientational transformation relationships among all components of the system are supposed to be calibrated and identified preoperatively.
Aims
The target location performance is directly determined by the calibration result. Therefore, a multiple closed‐loops calibration approach...
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