Title :
Effective geometrical calibration of a delta parallel robot used in neurosurgery
Author :
Deblaise, Dominique ; Maurine, Patrick
Author_Institution :
Departement de Genie Mecanique et Automatique, Inst. Nat. des Sci. Appliquees, Rennes, France
Abstract :
The increasing applications of parallel robots in domains such as medical or machine-tools require a high accuracy. As a result, the geometrical calibration of these mechanisms becomes a major step to reach the expected accuracy. An effective and simple calibration method based on 1D and 3D measurements of a new low cost artifact is presented and then validated on the Surgiscope®, a structure based on a delta parallel robot used in neurosurgery.
Keywords :
calibration; manipulator kinematics; medical robotics; surgery; Surgiscope; delta parallel robot; geometrical calibration; neurosurgery; parallel kinematics manipulator; Calibration; Intelligent robots; Kinematics; Laser surgery; Microscopy; Neoplasms; Neurosurgery; Parallel robots; Robotics and automation; Wrist; Accuracy; Calibration; Delta Robot; Neurosurgery; Parallel Kinematics Manipulator;
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
DOI :
10.1109/IROS.2005.1545081