Using optical tracking for kinematic testing of medical robots.

Journal: The international journal of medical robotics + computer assisted surgery : MRCAS
Published Date: Jan 10, 2018

Abstract

BACKGROUND: In image-guided robotic interventions, an error component is related to the positioning error of the manipulator. Therefore, measuring the kinematic error is required during robot development. However, no specialized measurement device exists for this task. This study explores the possibility of using optical tracking for robot measurement.

Authors

  • Changhan Jun
    Robotics Laboratory, Urology Department, Johns Hopkins University, Baltimore, Maryland, USA.
  • Ryan Decker
    Robotics Laboratory, Urology Department, Johns Hopkins University, Baltimore, Maryland, USA.
  • Dan Stoianovici
    Robotics Laboratory, Urology Department, Johns Hopkins University, Baltimore, Maryland, USA.

Keywords

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