Metrological Evaluation of a Novel Medical Robot and Its Kinematic Calibration. (16th September 2015)

• Record Type: Journal Article
• Authors: Zhao, Longfei; Joubair, Ahmed; Bigras, Pascal; Bonev, Ilian A.
• Is Part Of: International journal of advanced robotic systems. Volume 12:Number 9(2015)
• Publication Date: 2015-09-16
• Subjects: Medical Robot -- Parallel Robot -- Kinematic Calibration -- Laser Tracker; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/60881
• Languages: English
• ISSNs: 1729-8806

Abstract

The vessels are twisted in a longitudinal 3D space in the lower limbs of humans. Thus, it is difficult to perform an ultrasound scanning examination in this area. In this paper, a new medical parallel robot is introduced to effectively diagnose vessel disease in the lower limbs. The robot's position repeatability and accuracy are evaluated. Furthermore, the robot's accuracy is improved through a calibration process in which the kinematic parameters are identified through a simple identification approach.