Title :
Kinematic calibration of a parallel robot for small animal biopsies
Author :
Hwang, Myun Joong ; Bebek, Ozkan ; Liang, Fan ; Fei, Baowei ; Cavusoglu, M. Cenk
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Case Western Reserve Univ., Cleveland, OH, USA
Abstract :
In biomedical research it is difficult to perceive tumors or cells and perform biopsies manually. Robotics technology can offer a reliable solution for accurate needle insertion. A novel 5 degrees of freedom (DOF) robot for inserting needles into small animal subjects was developed. The robot can realize dexterous alignment of the needle using two parallel mechanisms, and has a syringe mechanism to insert needles to subjects. Operations on small animals require high accuracy positioning during needle insertion. In this paper, kinematic calibration of the 5 DOF robot using an optical tracker as an external sensor is performed to enhance accuracy of the system.
Keywords :
medical robotics; needles; optical tracking; position control; robot kinematics; needle insertion procedure; optical tracker; parallel robot; robot kinematic calibration; small animal biopsy; Animals; Biomedical optical imaging; Biopsy; Calibration; Kinematics; Needles; Neoplasms; Optical sensors; Parallel robots; Robot sensing systems;
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
DOI :
10.1109/IROS.2009.5353969
