DocumentCode
2594422
Title
Effective geometrical calibration of a delta parallel robot used in neurosurgery
Author
Deblaise, Dominique ; Maurine, Patrick
Author_Institution
Departement de Genie Mecanique et Automatique, Inst. Nat. des Sci. Appliquees, Rennes, France
fYear
2005
fDate
2-6 Aug. 2005
Firstpage
1313
Lastpage
1318
Abstract
The increasing applications of parallel robots in domains such as medical or machine-tools require a high accuracy. As a result, the geometrical calibration of these mechanisms becomes a major step to reach the expected accuracy. An effective and simple calibration method based on 1D and 3D measurements of a new low cost artifact is presented and then validated on the Surgiscope®, a structure based on a delta parallel robot used in neurosurgery.
Keywords
calibration; manipulator kinematics; medical robotics; surgery; Surgiscope; delta parallel robot; geometrical calibration; neurosurgery; parallel kinematics manipulator; Calibration; Intelligent robots; Kinematics; Laser surgery; Microscopy; Neoplasms; Neurosurgery; Parallel robots; Robotics and automation; Wrist; Accuracy; Calibration; Delta Robot; Neurosurgery; Parallel Kinematics Manipulator;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN
0-7803-8912-3
Type
conf
DOI
10.1109/IROS.2005.1545081
Filename
1545081
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