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


Šuligoj, Filip; Jerbić, Bojan; Švaco, Marko; Šekoranja, Bojan; Mihalinec, Dominik; Vidaković, Josip
Medical applicability of a low-cost industrial robot arm guided with an optical tracking system // Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems
Hamburg, Njemačka, 2015. (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


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

Autori
Šuligoj, Filip ; Jerbić, Bojan ; Švaco, Marko ; Šekoranja, Bojan ; Mihalinec, Dominik ; Vidaković, Josip

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems / - , 2015

Skup
Intelligent Robots and Systems (IROS)

Mjesto i datum
Hamburg, Njemačka, 28.9-2.10.2015

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Calibration; Computed tomography; Optical variables measurement; Robot kinematics; Robot sensing systems; Service robots

Sažetak
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.

Izvorni jezik
Engleski

Napomena
Rad je vezan za istraživanje u sklopu projekta ACRON - Novi koncept primijenjene kognitivne robotike u kliničkoj neuroznanosti, broj projekta 4192. Istraživački projekt ACRON je financiran od strane Hrvatske zaklade za znanost.



POVEZANOST RADA


Projekt / tema
HRZZ-IP-2013-11-4192 - Novi koncept primijenjene kognitivne robotike u kliničkoj neuroznanosti (Bojan Jerbić, )

Ustanove
Fakultet strojarstva i brodogradnje, Zagreb