TY - GEN
T1 - Kinematic calibration of a parallel robot for small animal biopsies
AU - Hwang, Myun Joong
AU - Bebek, Ozkan
AU - Liang, Fan
AU - Fei, Baowei
AU - Cavusoglu, M. Cenk
PY - 2009/12/11
Y1 - 2009/12/11
N2 - In biomedical research it is difficult to perceive tumors or cells and perform biopsies manually. Robotics technology can offer a reliable solution for accurate needle insertion. A novel 5 degrees of freedom (DOF) robot for inserting needles into small animal subjects was developed. The robot can realize dexterous alignment of the needle using two parallel mechanisms, and has a syringe mechanism to insert needles to subjects. Operations on small animals require high accuracy positioning during needle insertion. In this paper, kinematic calibration of the 5 DOF robot using an optical tracker as an external sensor is performed to enhance accuracy of the system.
AB - In biomedical research it is difficult to perceive tumors or cells and perform biopsies manually. Robotics technology can offer a reliable solution for accurate needle insertion. A novel 5 degrees of freedom (DOF) robot for inserting needles into small animal subjects was developed. The robot can realize dexterous alignment of the needle using two parallel mechanisms, and has a syringe mechanism to insert needles to subjects. Operations on small animals require high accuracy positioning during needle insertion. In this paper, kinematic calibration of the 5 DOF robot using an optical tracker as an external sensor is performed to enhance accuracy of the system.
UR - http://www.scopus.com/inward/record.url?scp=76249125859&partnerID=8YFLogxK
U2 - 10.1109/IROS.2009.5353969
DO - 10.1109/IROS.2009.5353969
M3 - Conference contribution
AN - SCOPUS:76249125859
SN - 9781424438044
T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
SP - 4104
EP - 4109
BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Y2 - 11 October 2009 through 15 October 2009
ER -