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IROS
2009
IEEE

Kinematic calibration of a parallel robot for small animal biopsies

8 years 12 months ago
Kinematic calibration of a parallel robot for small animal biopsies
— 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.
Myun Joong Hwang, Ozkan Bebek, Fan Liang, Baowei F
Added 24 May 2010
Updated 24 May 2010
Type Conference
Year 2009
Where IROS
Authors Myun Joong Hwang, Ozkan Bebek, Fan Liang, Baowei Fei, Murat Cenk Cavusoglu
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