Kinematic calibration of a parallel robot for small animal biopsies

Myun Joong Hwang; Ozkan Bebek; Fan Liang; Baowei Fei; M. Cenk Cavusoglu

doi:10.1109/IROS.2009.5353969

Kinematic calibration of a parallel robot for small animal biopsies

Myun Joong Hwang, Ozkan Bebek, Fan Liang, Baowei Fei, M. Cenk Cavusoglu

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

8 Scopus citations

Abstract

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.

Original language	English (US)
Title of host publication	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages	4104-4109
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2009.5353969
State	Published - Dec 11 2009
Externally published	Yes
Event	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States Duration: Oct 11 2009 → Oct 15 2009

Publication series

Name	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Conference

Conference	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Country/Territory	United States
City	St. Louis, MO
Period	10/11/09 → 10/15/09

ASJC Scopus subject areas

Artificial Intelligence
Computer Vision and Pattern Recognition
Human-Computer Interaction
Control and Systems Engineering

Access to Document

10.1109/IROS.2009.5353969

Cite this

Hwang, M. J., Bebek, O., Liang, F., Fei, B., & Cavusoglu, M. C. (2009). Kinematic calibration of a parallel robot for small animal biopsies. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 4104-4109). Article 5353969 (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009). https://doi.org/10.1109/IROS.2009.5353969

Kinematic calibration of a parallel robot for small animal biopsies. / Hwang, Myun Joong; Bebek, Ozkan; Liang, Fan et al.
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 4104-4109 5353969 (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Hwang, MJ, Bebek, O, Liang, F, Fei, B & Cavusoglu, MC 2009, Kinematic calibration of a parallel robot for small animal biopsies. in 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009., 5353969, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, pp. 4104-4109, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, St. Louis, MO, United States, 10/11/09. https://doi.org/10.1109/IROS.2009.5353969

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abstract = "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.",

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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.

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Kinematic calibration of a parallel robot for small animal biopsies

Abstract

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