NDLI: Destination Planning and Space Mapping in the Robot-aided Coagulation Therapy System

Content Provider	IEEE Xplore Digital Library
Author	YangYu Luo Xiang Dong Yang Sen Qiang Zhu Jing Xu Ken Chen
Copyright Year	2006
Description	Author affiliation: Dept. of Precision Instruments & Mechanology, Tsinghua Univ., Beijing (YangYu Luo; Xiang Dong Yang; Sen Qiang Zhu; Jing Xu; Ken Chen)
Abstract	In the robot-aided ultrasound-guided microwave coagulation therapy system for liver cancer, manual manipulation of the passive robot should be as easy as possible, to improve the efficiency of therapy and popularize such a micro injury therapy technique. The robot manipulation is separated into three steps: the wrist point, the forth joint and the fifth joint are dragged or twisted to their expected position or orientation in turn. During the guide process, the expected position and orientation of robot end-effector can be decided from the focus position and body structure, but expected position or orientation for each manipulating step should be planned through particular calibration and computation. A magnetic tracker with three receivers is installed on the robot to record position and orientation of the robot, which will supply original data to planning and mapping arithmetic of the guide system. The first receiver on the robot base displays position and orientation of the robot base to the magnetic transmitter, which is imperative for the destination planning. Through simple conversion, record of the second receiver on the forearm represents the wrist position, and the third receiver on the end-effector represents real-time position and orientation of the robot tool axis. Based on such an arrangement, planning and mapping arithmetic of the guide system are provided. At last, an independent test with other error sources obviated is introduced to validate accuracy of the system. Test result shows that the error is acceptable, and then proves efficiency of the robot-aid manipulating bed and corresponding arithmetic
Starting Page	1249
Ending Page	1254
File Size	6328186
Page Count	6
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.281884
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Orbital robotics Coagulation Medical treatment Robots Arithmetic Wrist Magnetic separation Ultrasonic imaging Microwave theory and techniques Liver robots calibration magnetic transducers
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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