Medical applicability of a low-cost industrial robot arm guided with an optical tracking system

Šuligoj, Filip and Jerbić, Bojan and Švaco, Marko and Šekoranja, Bojan and Mihalinec, Dominik and Vidaković, Josip (2015) Medical applicability of a low-cost industrial robot arm guided with an optical tracking system. = Medical applicability of a low-cost industrial robot arm guided with an optical tracking system. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, 28.09-02.10.2015., Hamburg, Njemačka.

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Abstract

Robot systems used in surgical procedures can autonomously position tools at points correlated with preoperative imaging techniques such as magnetic resonance (MR) and computed tomography (CT). The aim of this paper is to measure and assess medical applicability of a low-cost, lightweight industrial robot arm (Universal robot UR5) guided with the medically certified optical tracking system (Polaris Vicra) to positions registered from a CT scan. Technical setup, measurement equipment, device communication and robot control based on OTS feedback are described. Robot intrinsic accuracy, CT scan accuracy and two methods of robot tool positioning with aid of the optical tracking system (OTS) are measured. Measurements show RMS error of the robot (0.669 mm) is decreased 55.4% when guided with OTS using a single marker probe (0.29 mm) and 40.5% when using OTS with relative referencing (0.39 mm). RMS error of the CT scan readings is 0.46 mm.

Item Type: Conference or Workshop Item (Lecture)
Keywords (Croatian): calibration, computed tomography, optical variables measurement, robot kinematics, robot sensing systems, service robots
Subjects: TECHNICAL SCIENCE > Mechanical Engineering
Divisions: 900 Department of Robotics and Production System Automation > 920 Chair of Manufacturing and Assembly System Planning
Indexed in Web of Science: Yes
Indexed in Current Contents: No
Citations JCR: 2 (24.09.2018.)
Date Deposited: 19 Sep 2016 14:34
Last Modified: 24 Sep 2018 10:06
URI: http://repozitorij.fsb.hr/id/eprint/6378

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