Metrological Evaluation of a Novel Medical Robot and Its Kinematic Calibration:

International Journal of Advanced Robotic Systems

LongfeiZhao¹ 

关键词: Medical Robot;    Parallel Robot;    Kinematic Calibration;    Laser Tracker;   

DOI  :  10.5772/60881

学科分类：自动化工程

来源: InTech

【 摘 要 】

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.

【 授权许可】

CC BY