High performance medical robot requirements and accuracy analysis

Performance evaluation of a medical robotic 3D-ultrasound imaging system

“…This method, also referred as the single endpoint contact method, is usually the preferred approach for robot calibration (Mavroidis et al, 1998;Mooring et al, 1991). The phantom was centrally positioned and fixed within each of five designated experimental zones in the robot workspace, as illustrated in Fig.…”

“…An alternate way to improve and preserve performance would be to change the physical design of the robotic arm by computing a model of optimal link dimensions and joint orientations (i.e., kinematic parameters) with SP. The Jacobian, a matrix that depends on a kinematic model to relate joint velocities to the end-effector, would be a solution to provide a better positioning accuracy measured at the endeffector with SP (Mavroidis et al, 1998).…”

Robots in the operating theatre—chances and challenges

“…Such systems are distributed by commercial vendors (Accuray, Sunnyvale, CA, USA; Hitesys, Aprilia-Latina, Italy). Another option of increasing the possible directions of the nozzle would be using a standard gantry and moving the patient by mounting the couch to a robot 25,72,73 .…”

Determining the Errors in Output Kinematic Parameters of Planar Mechanisms with a Complex Structure

“…Literature on the subject abounds in works on high-precision kinematic systems, such as manipulators used in surgery (Mavroidis et al, 1998), however most researchers tend to focus on positioning errors (Fenton et al, 1989). This study investigates the position, velocity, acceleration and jerk errors in planar kinematic systems assumed to have rigid links connected by ideal, clearance-free geometric constraints.…”