Delta Robot Kinematic Calibration for Precise Robot-Assisted Retinal Surgery ∗

Boyang Xiao; Alireza Alamdar; Kefan Song; Ali Ebrahimi; Peter Gehlbach; Russell H. Taylor; Iulian Iordachita

doi:10.1109/ISMR48347.2022.9807517

Delta Robot Kinematic Calibration for Precise Robot-Assisted Retinal Surgery ^∗

Boyang Xiao, Alireza Alamdar, Kefan Song, Ali Ebrahimi, Peter Gehlbach, Russell H. Taylor, Iulian Iordachita

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

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.

Original language	English (US)
Title of host publication	2022 International Symposium on Medical Robotics, ISMR 2022
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781665469289
DOIs	https://doi.org/10.1109/ISMR48347.2022.9807517
State	Published - 2022
Event	2022 International Symposium on Medical Robotics, ISMR 2022 - Atlanta, United States Duration: Apr 13 2022 → Apr 15 2022

Publication series

Name	2022 International Symposium on Medical Robotics, ISMR 2022

Conference

Conference	2022 International Symposium on Medical Robotics, ISMR 2022
Country/Territory	United States
City	Atlanta
Period	4/13/22 → 4/15/22

ASJC Scopus subject areas

Control and Optimization
Medicine (miscellaneous)
Surgery
Artificial Intelligence
Computer Science Applications
Computer Vision and Pattern Recognition

Access to Document

10.1109/ISMR48347.2022.9807517

Cite this

Xiao, B., Alamdar, A., Song, K., Ebrahimi, A., Gehlbach, P., Taylor, R. H., & Iordachita, I. (2022). Delta Robot Kinematic Calibration for Precise Robot-Assisted Retinal Surgery ^∗. In 2022 International Symposium on Medical Robotics, ISMR 2022 (2022 International Symposium on Medical Robotics, ISMR 2022). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ISMR48347.2022.9807517

Delta Robot Kinematic Calibration for Precise Robot-Assisted Retinal Surgery ^∗. / Xiao, Boyang; Alamdar, Alireza; Song, Kefan et al.
2022 International Symposium on Medical Robotics, ISMR 2022. Institute of Electrical and Electronics Engineers Inc., 2022. (2022 International Symposium on Medical Robotics, ISMR 2022).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Xiao, B, Alamdar, A, Song, K, Ebrahimi, A, Gehlbach, P , Taylor, RH & Iordachita, I 2022, Delta Robot Kinematic Calibration for Precise Robot-Assisted Retinal Surgery ^∗. in 2022 International Symposium on Medical Robotics, ISMR 2022. 2022 International Symposium on Medical Robotics, ISMR 2022, Institute of Electrical and Electronics Engineers Inc., 2022 International Symposium on Medical Robotics, ISMR 2022, Atlanta, United States, 4/13/22. https://doi.org/10.1109/ISMR48347.2022.9807517

Xiao B, Alamdar A, Song K, Ebrahimi A, Gehlbach P , Taylor RH et al. Delta Robot Kinematic Calibration for Precise Robot-Assisted Retinal Surgery ^∗. In 2022 International Symposium on Medical Robotics, ISMR 2022. Institute of Electrical and Electronics Engineers Inc. 2022. (2022 International Symposium on Medical Robotics, ISMR 2022). doi: 10.1109/ISMR48347.2022.9807517

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