Delta Robot Kinematic Calibration for Precise Robot-Assisted Retinal Surgery.

Autor:	Xiao B; LCSR at the Johns Hopkins University, Baltimore, MD 21218 USA., Alamdar A; LCSR at the Johns Hopkins University, Baltimore, MD 21218 USA., Song K; LCSR at the Johns Hopkins University, Baltimore, MD 21218 USA., Ebrahimi A; LCSR at the Johns Hopkins University, Baltimore, MD 21218 USA., Gehlbach P; Wilmer Eye Institute, Johns Hopkins Hospital, Baltimore, MD 21287 USA., Taylor RH; LCSR at the Johns Hopkins University, Baltimore, MD 21218 USA., Iordachita I; LCSR at the Johns Hopkins University, Baltimore, MD 21218 USA.
Jazyk:	angličtina
Zdroj:	... International Symposium on Medical Robotics. International Symposium on Medical Robotics [Int Symp Med Robot] 2022 Apr; Vol. 2022. Date of Electronic Publication: 2022 Jun 28.
DOI:	10.1109/ismr48347.2022.9807517
Abstrakt:	High precision is required for ophthalmic robotic systems. This paper presents the kinematic calibration for the delta robot which is part of the next generation of Steady-Hand Eye Robot (SHER). A linear error model is derived based on geometric error parameters. Two experiments with different ranges of workspace are conducted with laser sensors measuring displacement. The error parameters are identified and applied in the kinematics to compensate for modeling error. To achieve better accuracy, Bernstein polynomials are adopted to fit the error residuals after compensation. After the kinematic calibration process, the error residuals of the delta robot are reduced to satisfy the clinical requirements.
Databáze:	MEDLINE
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