Robot

Overview: This paper proposes a simulator that allows arbitrary tool rigid body (RB) configurations and arbitrary CRF configurations of any number sensors to be virtually positioned in user-specified patterns and distorted according to a model of previously acquired measurement distortion error map. And the 6-DOF frames of the tool and reference are refit to the distorted sensors. Simulation software is presented at the end of this paper. There is a discussion about tool design using simulator. And make another test on the software.

Positive critiques: The paper spans two fields which are tool design and optimization, and EM tracker characterization and calibration related to Image Guided Surgery. In this paper, the author adapts the formulation of [7], which specifically modeled Aurora tracker’s distortion. In the trials, the NDI Optotrak optical tracking system (OTS) is used as a reference for the NDI Aurora EM tracking system (EMTS). And the author derives the mathematic expression of errors. Bernstein polynomials are used as the basis for distortion models. Also this paper gives an explanation of position-related and orientation-related measurement error. In order to simplify tool design, the paper removes the necessity to construct and test each physical tool in each environment of interest.

From the paper, I learned how to calculate measurement distortion, and how to use the algorithm mentioned in this paper to solve the position-related and orientation-related measurement error. Also I learned how to get the optimal translation that aligns the RB with the measurements. In the simulation software section, I learned how to design the GUI. And I learned the steps of tool design procedure.