IMPLEMENTACIÓN DE UN SISTEMA MULTICÁMARA DE ALTA PRECISIÓN PARA LA CORRECCIÓN DEL POSICIONAMIENTO DE UN BRAZO ROBÓTICO UTILIZADO EN OPERACIONES QUIRÚRGICAS

Abstract

Photogrammetry is a technique that obtains information from objects and their environment through the processing of a set of images, thus obtaining a measurement. It computes the spatial reconstruction of a scene or object through a series of taken images from different points of view. Through the processing of these images, measurements or reconstructions of the observed object can be achieved. This paper describes the design and implementation of a multi-camera system that, using photogrammetry technique, is able to guide arm robotic movements to achieve higher degree of accuracy in its positioning regardless of the robot used. It is proposed to use a robotic arm, guided by the cameras, to perform brain retraction tasks in surgical procedures. In this procedure, it is necessary to manipulate the brain with pinpoint precision in order to access internal parts. Keywords: Multi-camera system, brain retraction, surgery, photogrammetry, robotics, precision engineering