TY - GEN
T1 - Delta Robot Kinematic Calibration for Precise Robot-Assisted Retinal Surgery ∗
AU - Xiao, Boyang
AU - Alamdar, Alireza
AU - Song, Kefan
AU - Ebrahimi, Ali
AU - Gehlbach, Peter
AU - Taylor, Russell H.
AU - Iordachita, Iulian
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - High precision is required for ophthalmic robotic systems. This paper presents the kinematic calibration for the delta robot which is part of the next generation of Steady-Hand Eye Robot (SHER). A linear error model is derived based on geometric error parameters. Two experiments with different ranges of workspace are conducted with laser sensors measuring displacement. The error parameters are identified and applied in the kinematics to compensate for modeling error. To achieve better accuracy, Bernstein polynomials are adopted to fit the error residuals after compensation. After the kinematic calibration process, the error residuals of the delta robot are reduced to satisfy the clinical requirements.
AB - High precision is required for ophthalmic robotic systems. This paper presents the kinematic calibration for the delta robot which is part of the next generation of Steady-Hand Eye Robot (SHER). A linear error model is derived based on geometric error parameters. Two experiments with different ranges of workspace are conducted with laser sensors measuring displacement. The error parameters are identified and applied in the kinematics to compensate for modeling error. To achieve better accuracy, Bernstein polynomials are adopted to fit the error residuals after compensation. After the kinematic calibration process, the error residuals of the delta robot are reduced to satisfy the clinical requirements.
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U2 - 10.1109/ISMR48347.2022.9807517
DO - 10.1109/ISMR48347.2022.9807517
M3 - Conference contribution
AN - SCOPUS:85134383025
T3 - 2022 International Symposium on Medical Robotics, ISMR 2022
BT - 2022 International Symposium on Medical Robotics, ISMR 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 International Symposium on Medical Robotics, ISMR 2022
Y2 - 13 April 2022 through 15 April 2022
ER -