Accurate error compensation for a MR-compatible surgical robot based on a novel kinematic calibration method |
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Authors: | Shan Jiang Xiaodong Ma Yan Yu Zhiyong Yang |
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Affiliation: | 1. Centre for Advanced Mechanisms and Robotics, School of Mechanical Engineering, Tianjin University, Tianjin 300072, Chinashanjmri@tju.edu.cn;3. Centre for Advanced Mechanisms and Robotics, School of Mechanical Engineering, Tianjin University, Tianjin 300072, China;4. Division of Medical Physics, Department of Radiation Oncology, Kimmel Cancer Center, Thomas Jefferson University, 111 South 11th Street, Philadelphia, PA 19107, USA |
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Abstract: | Kinematic calibration is an effective and economical way to improve the accuracy of surgical robot, and in most cases, it is a necessary procedure before the robot is put into operation. This study investigates a novel kinematic calibration method where the effect of controller error is taken into account when formulating the model based on screw theory, which is applied to the kinematic control of magnetic resonance compatible surgical robot. Based on screw theory, the kinematic error model is established for the relationship between error of controller and the deviation of the measured pose of the end-effector. Therefore, the error of controller can be figured out and parameters of controller can be adjusted accordingly. Control strategy based on the kinematic calibration framework is proposed. According to artificial neural network, the deviation of end-effector in arbitrary configuration can be effectively obtained. Comparative experiments are carried out to show the validity and effectiveness of the proposed framework with the help of commercial visual system and joint encoders. |
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Keywords: | kinematic calibration error compensation error model MRI surgical robot screw theory |
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