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

doi:10.1109/iros.2015.7353908

Cited by 16 publications

(10 citation statements)

References 18 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The test is carried out by providing five test coordinates for the position (x, y, z) in the pick and place conditions. The test coordinates in the pick condition are (-8,20,10), (-20,20,10), (8,16,10), (12,24,4), and (-4,24,8). The test coordinates in place conditions are (16,24,7), (-20,20,10), (-12,28,8), (-20,24,15), and (20,20,15).…”

Section: Servo Angle Testing Based Inverse Kinematicsmentioning

confidence: 99%

Small-scale Robot Arm Design with Pick and Place Mission Based on Inverse Kinematics

Tahtawi

Agni

Hendrawati

2021

jrc

View full text Add to dashboard Cite

Robot arm is often used in industry with various tasks, one of which is a pick and place. Rapid prototyping of robot arms is needed to facilitate the development of many industrial tasks, especially on a laboratory scale. This study aims to design a small-scale three degree of freedom (3-DoF) robot arm for pick and place mission using the inverse kinematics method. The mechanical robotic arm system is designed using Solidworks with four servo motors as the actuator. Arduino Mega 2560 is used as a microcontroller in which the inverse kinematic method is embedded. This method is used to move the robot based on the coordinates of the destination pick and place. The test results show that the robot arm can carry out the pick and place mission according to the target coordinates given with the largest average error of about 5 cm. While the error generated between the calculation and computation results is around 3%.

show abstract

Section: Servo Angle Testing Based Inverse Kinematicsmentioning

confidence: 99%

Small-scale Robot Arm Design with Pick and Place Mission Based on Inverse Kinematics

Tahtawi

Agni

Hendrawati

2021

jrc

View full text Add to dashboard Cite

show abstract

“…The OTS is only used for coarse positioning of the robot with respect to the patient in the global localization phase of the procedure. In our previous study [36], we measured the main accuracy categories of the robot system guided with an OTS. When using relative referencing and two reference frames (markers), the root-meansquare positioning error of the OTS was 0.398 mm and showed a strong growth tendency with larger distances between the two markers.…”

Section: Table (F) Master Robot Controller (G) Hydraulic Lifting Symentioning

confidence: 99%

“…When using relative referencing and two reference frames (markers), the root-meansquare positioning error of the OTS was 0.398 mm and showed a strong growth tendency with larger distances between the two markers. We have developed a localization device (RONNAstereo) which eliminates any errors that may arise from the low resolution and a wide field of view of the global OTS [36]. The RONNAstereo is described in Section 1.1.2.…”

Section: Table (F) Master Robot Controller (G) Hydraulic Lifting Symentioning

confidence: 99%

A Novel Robotic Neuronavigation System: RONNA G3

Švaco

Šekoranja

Šuligoj

et al. 2017

SV-JME

View full text Add to dashboard Cite

“…Also a new redesign should be done to enable scanning of the phantom using MRI technology. Furthermore, we plan to make a detailed accuracy analysis of the measurement method by comparing the stereo vision measurements with ground truth measurements made with either a coordinate measuring machine or a high accuracy vision system [19].…”

Section: Entry Point Errormentioning

confidence: 99%

T-Phantom: a New Phantom Design for Neurosurgical Robotics

Švaco¹,

Jerbić²,

Stiperski³

et al. 2016

Proceedings of the 27th International DAAAM Symposium 2016

Self Cite

View full text Add to dashboard Cite

In this paper we propose a novel phantom design for measuring application accuracy of neurosurgical robotic systems and stereotactic frames. We develop a novel phantom (T-Phantom) which enables simultaneous localization of translational displacements in entry and target points. The phantom consists of multiple trajectories positioned around a localizer feature simulating approach trajectories in neurosurgical procedures on the intracranial space. Each trajectory consists of two parallel and coaxial hollow cylinders printed in selective laser sintering technology. We apply a stereo vision measuring method for precise measurements of translational displacements in target and entry positions. The paper further provides a systematic comparison of phantom designs originating from stereotactic frames and neurosurgical robotic systems. To the author's knowledge, the developed T-Phantom is the first stereotactic phantom which enables simultaneous measurements both in deviation from target and entry positions and angular deviation from the planned trajectory.

show abstract

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

Cited by 16 publications

References 18 publications

Small-scale Robot Arm Design with Pick and Place Mission Based on Inverse Kinematics

Small-scale Robot Arm Design with Pick and Place Mission Based on Inverse Kinematics

A Novel Robotic Neuronavigation System: RONNA G3

T-Phantom: a New Phantom Design for Neurosurgical Robotics

Contact Info

Product

Resources

About