Validation of three KUKA Agilus robots for application in neurosurgery

Švaco, Marko and Koren, Petar and Jerbić, Bojan and Vidaković, Josip and Šekoranja, Bojan and Šuligoj, Filip (2017) Validation of three KUKA Agilus robots for application in neurosurgery. = Validation of three KUKA Agilus robots for application in neurosurgery. In: 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017, 21.-23.06.2017., Torino, Italija.

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In this paper, we verify three different 6 degrees of freedom Kuka Agilus robots for application in neurosurgery. Application specific reachability maps are gener-ated for robots with 707mm (R700), 901mm (R900), and 1101mm (R1100) hor-izontal reach. The reachability of each robot reflects a working volume of a stand-ard stereotactic frame which utilizes the center of arc principle. A working vol-ume with 100% reachability yield has been identified for the R900 and R1100 robots when the robot is positioned sideways to the patient. The R700 robot doesn’t have a 100% reachability yield work volume. Robot configurations with-in the reachability map are further optimized given two dexterity performance in-dices: the condition number and a new fuzzy joint limit avoidance function. In the experiments, we have further evaluated the impact on robot work volume given robot orientation with respect to the patient. After reorienting the robot a signifi-cant increase in work volume with 100% reachability yield was obtained for all three robots.

Item Type: Conference or Workshop Item (Lecture)
Keywords (Croatian): robotics; neurosurgery; robotic surgery; robot reachability
Subjects: TECHNICAL SCIENCE > Computing
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
Date Deposited: 24 Sep 2018 07:48
Last Modified: 26 Oct 2018 10:46

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