SPACE CALIBRATION OF THE ROBOT SYSTEM IN PUNCTURE SURGERY

Traditional manual puncture surgery has low positioning accuracy and poor stability. Moreover, the computed tomography method can cause strong radiation damage. Therefore, this study intends to establish a robotic system in puncture surgery, which is based on optical registration to improve safety, accuracy, and efficiency. As the accuracy of surgical space calibration influences the accuracy of the surgical system, this study proposes an improved automatic calibration algorithm for linear rotation. The algorithm can reduce error caused by manual calibration and system noise. Recalibration is not required provided that the pose of the digital reference frame is unchanged, thereby improving accuracy and efficiency. The proposed algorithm is experimentally verified to prove its effectiveness. Results show that the average errors of position and posture are 0.25[Formula: see text]mm and 0.2∘, respectively. The accuracy of calibration fully meets the needs of surgery.

Download Full-text

Design of a Multi-Arm Robot for Mandible Reconstruction Surgery

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.654.187 ◽

2014 ◽

Vol 654 ◽

pp. 187-190 ◽

Cited By ~ 1

Author(s):

Hong Hua Zhao ◽

Jian Ying Tian ◽

Dong Song Li ◽

Chang Sheng Ai

Keyword(s):

Mechanical Design ◽

The Novel ◽

Robot System ◽

Mandible Reconstruction ◽

3D Navigation ◽

Reconstruction Surgery ◽

And Control ◽

Robotic Surgical System ◽

Surgical System ◽

Poor Stability

Clinical treatment for mandible defects is Mandible Reconstruction Surgery (MRS) including bone grafts, distraction osteogenesis and bone tissue engineering, however, MRS is operated by doctors without 3D navigation at present which leads to lots of disadvantages such as bad operational control, low positioning accuracy and poor stability. Therefore, a robotic surgical system was designed to assist surgeons on manipulating. For this study, the robot system was given in brief, then mechanical design and control system of the novel three-arm robot.And experiment results in this study show that the robot works stably and accurately. The development of this medical robot system contributes to the promotion and popularization of the MRS in clinics.

Download Full-text

Calibration of Dual Industrial Robot System Based on Hand-Eye Calibration Algorithm

Journal of Physics Conference Series ◽

10.1088/1742-6596/1939/1/012027 ◽

2021 ◽

Vol 1939 (1) ◽

pp. 012027

Author(s):

Jingsen Jin ◽

Weidong Hao ◽

Daoguo Yang ◽

Zhaoquan Tan ◽

Chuan Zheng

Keyword(s):

Industrial Robot ◽

Robot System ◽

Calibration Algorithm

Download Full-text

A Novel Calibration Algorithm for Cable-Driven Parallel Robots with Application to Rehabilitation

Applied Sciences ◽

10.3390/app9112182 ◽

2019 ◽

Vol 9 (11) ◽

pp. 2182 ◽

Cited By ~ 3

Author(s):

Han Yuan ◽

Xianghui You ◽

Yongqing Zhang ◽

Wenjing Zhang ◽

Wenfu Xu

Keyword(s):

Calibration Method ◽

Parallel Robot ◽

Parallel Robots ◽

Human Robot Interaction ◽

Automatic Calibration ◽

Unknown Parameters ◽

Robot Interaction ◽

Geometric Calibration ◽

Rehabilitation Robots ◽

Calibration Algorithm

Cable-driven parallel robots are suitable candidates for rehabilitation due to their intrinsic flexibility and adaptability, especially considering the safety of human–robot interaction. However, there are still some challenges to apply cable-driven parallel robots to rehabilitation, one of which is the geometric calibration. This paper proposes a new automatic calibration method that is applicable for cable-driven parallel rehabilitation robots. The key point of this method is to establish the mapping between the unknown parameters to be calibrated and the parameters that could be measured by the inner sensors and then use least squares algorithm to find the solutions. Specifically, the unknown parameters herein are the coordinates of the attachment points, and the measured parameters are the lengths of the redundant cables. Simulations are performed on a 3-DOF parallel robot driven by four cables for validation. Results show that the proposed calibration method could precisely find the real coordinate values of the attachment points, with errors less than 10 − 12 mm. Trajectory simulations also indicate that the positioning accuracy of the cable-driven parallel robot (CDPR) could be greatly improved after calibration using the proposed method.

Download Full-text

Holographic Micromirror Array with Diffuse Areas for Accurate Calibration of 3D Light-Field Display

Applied Sciences ◽

10.3390/app10207188 ◽

2020 ◽

Vol 10 (20) ◽

pp. 7188

Author(s):

Lode Jorissen ◽

Ryutaro Oi ◽

Koki Wakunami ◽

Yasuyuki Ichihashi ◽

Gauthier Lafruit ◽

...

Keyword(s):

Light Field ◽

3D Visualization ◽

Calibration Method ◽

Automatic Calibration ◽

Display System ◽

Extrinsic Parameters ◽

Calibration Algorithm ◽

Fully Automatic ◽

Intrinsic And Extrinsic Parameters ◽

Micromirror Array

Light field 3D displays require a precise alignment between the display source and the micromirror-array screen for error free 3D visualization. Hence, calibrating the system using an external camera becomes necessary, before displaying any 3D contents. The inter-dependency of the intrinsic and extrinsic parameters of display-source, calibration-camera, and micromirror-array screen, makes the calibration process very complex and error-prone. Thus, several assumptions are made with regard to the display setup, in order to simplify the calibration. A fully automatic calibration method based on several such assumptions was reported by us earlier. Here, in this paper, we report a method that uses no such assumptions, but yields a better calibration. The proposed method adapts an optical solution where the micromirror-array screen is fabricated as a computer generated hologram with a tiny diffuser engraved at one corner of each elemental micromirror in the array. The calibration algorithm uses these diffusing areas as markers to determine the relation between the pixels of display source and the mirrors in the micromirror-array screen. Calibration results show that virtually reconstructed 3D scenes align well with the real world contents, and are free from any distortion. This method also eliminates the position dependency of display source, calibration-camera, and mirror-array screen during calibration, which enables easy setup of the display system.

Download Full-text

Step-By-Step Automatic Calibration Algorithm for Exterior Parameters of 3D Lidar Mounted on Vehicle

Chinese Journal of Lasers ◽

10.3788/cjl201744.1010004 ◽

2017 ◽

Vol 44 (10) ◽

pp. 1010004

Author(s):

陈贵宾 Chen Guibin ◽

高振海 Gao Zhenhai ◽

何磊 He Lei

Keyword(s):

Automatic Calibration ◽

Calibration Algorithm ◽

3D Lidar

Download Full-text

Automatic calibration algorithm of 0-D combustion model applied to DICI diesel engine

Applied Thermal Engineering ◽

10.1016/j.applthermaleng.2017.11.013 ◽

2018 ◽

Vol 130 ◽

pp. 331-342 ◽

Cited By ~ 3

Author(s):

Song Hu ◽

Hechun Wang ◽

Xiaoxiao Niu ◽

Xu Li ◽

Yinyan Wang

Keyword(s):

Diesel Engine ◽

Combustion Model ◽

Automatic Calibration ◽

Calibration Algorithm

Download Full-text

A vision-based fully-automatic calibration method for hand-eye serial robot

Industrial Robot the international journal of robotics research and application ◽

10.1108/ir-06-2014-0352 ◽

2015 ◽

Vol 42 (1) ◽

pp. 64-73 ◽

Cited By ~ 8

Author(s):

Haixia Wang ◽

Xiao Lu ◽

Zhanyi Hu ◽

Yuxia Li

Keyword(s):

Design Methodology ◽

Calibration Method ◽

Automatic Calibration ◽

Screw Axis ◽

Robot System ◽

Camera System ◽

Content Type ◽

Serial Robot ◽

Fully Automatic ◽

Robot Body

Purpose – The purpose of this paper is to present a fully automatic calibration method for hand-eye serial robot system is presented in this paper. The so-called “fully automatic” is meant to calibrate the robot body, the hand-eye relation, and the used measuring binocular system at the same time. Design/methodology/approach – The calibration is done by controlling the joints to rotate several times one by one in the reverse order (i.e. from the last one to the first one), and simultaneously take pictures of the checkerboard patterns by the stereo camera system attached on the end-effector, then the whole robot system can be calibrated automatically from these captured images. In addition, a nonlinear optimization step is used to further refine the calibration results. Findings – The proposed method is essentially based on an improved screw axis identification method, and it needs only a mirror and some paper checkerboard patterns without resorting to any additional costly measuring instrument. Originality/value – Simulations and real experiments on MOTOMAN-UP6 robot system demonstrate the feasibility and effectiveness of the proposed method.

Download Full-text

An automatic calibration approach for a multi-camera-robot system

2019 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA) ◽

10.1109/etfa.2019.8869522 ◽

2019 ◽

Cited By ~ 1

Author(s):

Ole Kroeger ◽

Johannes Huegle ◽

Carsten A. Niebuhr

Keyword(s):

Automatic Calibration ◽

Robot System ◽

Calibration Approach

Download Full-text

Research on ROI Image Processing Technology of Teleoperation Construction Robot Based on Trinocular Stereo Vision

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.130-134.2581 ◽

2011 ◽

Vol 130-134 ◽

pp. 2581-2584

Author(s):

Ming De Gong ◽

Bo Tian ◽

Yue Ning ◽

Wei Wei Li

Keyword(s):

Image Processing ◽

Real Time ◽

Three Dimensional ◽

Image Data ◽

Robot System ◽

The Real ◽

Human Eye ◽

Long Time ◽

Calibration Algorithm

Digital image has a large quantity of image data and long time for transmitting. It affects the real-time of the teleoperation robot system. According to the basic principle of human eye identifying objects and image blurry processing, a new image processing method of simulating human eye range of interest (ROI) is proposed. The method uses the calibration algorithm of three-dimensional stereo target and the Gauss blurred principle. The non-ROI region is blurred to hierarchy for extracting the feature and measurement to finish the image processing tasks. The experimental results showed that the quality of the images was assured and the transmission time was shorted. The real-time of the teleoperation robot system was also guaranteed.

Download Full-text

A flexible method combining camera calibration and hand–eye calibration

Robotica ◽

10.1017/s0263574713000040 ◽

2013 ◽

Vol 31 (5) ◽

pp. 747-756 ◽

Cited By ~ 10

Author(s):

Zijian Zhao ◽

Ying Weng

Keyword(s):

Nonlinear Optimization ◽

Camera Calibration ◽

Robot Hand ◽

Robot Assisted ◽

Robot System ◽

System Calibration ◽

The Real ◽

Real Application ◽

Camera Parameters ◽

Surgical System

SUMMARYWe consider the conventional techniques of vision robot system calibration where camera parameters and robot hand–eye parameters are computed separately, i.e., first performing camera calibration and then carrying out hand–eye calibration based on the calibrated parameters of cameras. In this paper we propose a joint algorithm that combines the camera calibration and the hand–eye calibration together. The proposed algorithm gives the solutions of the cameras' parameters and the hand–eye parameters simultaneously by using nonlinear optimization. Both simulations and real experiments show the superiority of our algorithm. We also apply our algorithm in the real application of the robot-assisted surgical system, and very good results have been obtained.

Download Full-text