High performance medical robot requirements and accuracy analysis

Robotics and Computer-Integrated Manufacturing

Volumn 14, Issue 5-6, 1998, Pages 329-338

  Mavroidis, C ^a   Flanz, J ^b   Dubowsky, S ^c   Drouet, P ^d   Goitein, Michael ^b  

^a RUTGERS UNIVERSITY   (United States)

^b MASSACHUSETTS GENERAL HOSPITAL   (United States)

^c Massachusetts Institute of Technology   (United States)

^d UNIVERSITÉ DE POITIERS   (France)

Author keywords

Medical robot; Patient positioning; Positioning accuracy; Repeatability

Indexed keywords

ERROR ANALYSIS; MANIPULATORS; MEDICAL APPLICATIONS; PRECISION ENGINEERING;

MEDICAL ROBOTS; PATIENT POSITIONING SYSTEMS;

ROBOTICS;

EID: 0032182781     PISSN: 07365845     EISSN: None     Source Type: Journal    
DOI: 10.1016/s0736-5845(98)00022-2     Document Type: Article

References (35)

1. Dario P, Guglielmelli E, Allotta B, Carrozza M. Robotics for medical applications. IEEE Robot Automat Mag 1996.
2. Hunter W. et al. Ophthalmic microsurgical robot and surgical simulator. Proc 1995 SPIE Conf, Boston, MA, 1995:184-90.
3. Paul H. et al. Development of a surgical robot for cementless total hip arthoplasty. Clin Orthopaed, 1992;285:57-66.
4. Narumiya H. Micromachine technology: intraluminal diagnostic and therapeutic system. Proc 1993 Workshop on Micromachine Technologies and Systems Tokyo, Japan, October, 1993:60-5.
5. Hashino S. Aiding robots. Adv Robot 1991;7(1):97-103.
6. Leifer L. Rehabilitative robots. Robotic age 1981.
7. Flanz J. et al. Overview of the MGH-Northeast proton therapy center: Plans and progress. Nucl Instr Meth Phys Res B 1995;99:830-4.
8. NPTC, Web Page of the Northeast Proton Therapy Center at the Massachusetts General Hospital, http://www.mgh.harvard.edu/ depts/nptc.htm, 1996.
9. Rabinowitz I. et al: Accuracy of radiation field alignment in clinical practice. Int J Radiat Oncol Biol Phys 1985;11:1857-67.
10. Hollerbach J. A survey of kinematic calibration. In: Khatib O. et al, editor. Robotics review. Cambridge, MA: MIT Press, 1988.
11. Kirdena V, Ferreira P. Mapping the effects of positioning errors on the volumetric accuracy of five-axis CNC machine tools. Int. J Mach Tools Manufac 1993;33(3):417-37.
12. Mooring B, Roth Z, Driels M. Fundamentals of manipulator calibration. New York: Wiley, 1991.
13. Veitchegger W, Wu C. Robot accuracy analysis based on kinematics. IEEE J Robotics Automat 1986;RA-2(3):171-9.
14. Chen J. Chao L. Positioning analysis for robot manipulators with all rotary joints. Proc 1986 IEEE Robot Automat Conf 1986;2:1011-6.
15. Lin P, Ehmann K. Direct volumetric error evaluation for multiaxis machines. Int J Mach Tools Manufac 1993;33(5):675-93.
16. Mirman C, Gupta K. Identification of position independent robot parameter errors using special Jacobian matrices. Int. J Robot Res 1993;12(3):288-98.
17. Wu C. A kinematic CAD tool for the design and control of a robot manipulator. Int J Robot Res 1984;3(1):58 -67.
18. Ziegert J, Olson D, Datseris P. Description of machine tool errors using screw coordinates. Trans ASME, J Mech Des 1992;114:531-5.
19. Benhabib B, Fenton R, Goldenberg A. Computer-aided joint error analysis of robots. IEEE J Robot Automat 1987;RA-3(4):317-22.
20. Waldron K, Kumar V. Development of a theory of errors for manipulators. Proc 5th World Congr on the Theory of Machines and Mechanisms. 1979:821-6.
21. Ferreira P, Liu R. An analytic quadratic model for the geometric-error of a machine tool. J Manufac Systems 5(1):51-62.
22. Vaichav R, Magrab E. A general procedure to evaluate robot positioning errors. Int J Robot Res 1987;6(1):59 74.
23. Donmez M, Liu C, Baras M. A generalized mathematical model for machine tool errors. Modeling, sensor and control in manufacturing processes. New York: ASME Publications, 1988:231-43.
24. Soons J. Theus F, Schellekens P. Modelling the errors of multiaxis machines: a general methodology. Prec Eng 1992;14(1):5-19.
25. Broderick P, Cirpa R. A method for determining and correcting robot position and orientation errors due to manufacturing. Trans ASME, J Mech Transmissions Automat Des 1988; 110:3-10.
26. Zhuang H, Roth Z, Hamano F. A complete and parametrically continuous kinematic model for robot manipulators. IEEE Trans Robot Automat 1992;8(4):451-62.
27. Cleghorn W. Fenton R, Fu J. Optimum tolerancing of planar mechanisms based on an error sensitivity analysis. Trans ASME, J Mech Des 1993;115:306-13.
28. Ting K, Long Y. Performance quality and tolerance sensitivity of mechanisms. Trans ASME, J Mech Des 1996;118:144-50.
29. Zhuang H, Wang K, Roth Z. Optimal selection of measurement configurations for robot calibration using simulated annealing. Proc IEEE 1994 Int Conf on Robotics and Automation, San Diego, CA, 1994:393-8.
30. Flanz J. Large medical gantries. Proc. 1995 Particle Accelerator Conf April 1995.
31. General Atomics: patient positioner preliminary design documents, 1995.
32. Slocum A. Precision machine design. Englewood Cliffs, NJ: Prentice Hall, 1992.
33. Craig J. Introduction to robotics: mechanics and control. Reading, MA: Addison-Wesley, 1989.
34. Crandall S, Dahl N, Lardner T. An introduction to the mechanics of solids. New York: McGraw-Hill Book Company, 1978.
35. Flanz J. et al. Design approach for a highly accurate patient positioning system for NPTC. Proc PTOOG XXV Hadron-therapy Symp, Belgium, September, 1996.