Paper Info
Title
A cost-effective stereo camera system for online pose control of patient handling robots
Abstract
Patient handling robots are employed more and more frequently to enable a flexible positioning of the patient for diagnostic and therapeutic purposes. Due to the greatly differing robot loads because of varying patient weights especially serial kinematics are no longer able to keep up with the constantly increasing medical demands for positioning accuracy. In this paper a camera-based measuring system is introduced which can measure the pose of a patient couch mounted on a patient handling robot with high accuracy. Through the use of cost-effective hardware components the stereoscopic system is suitable for a permanent integration into the workspace of the robot. This enables online pose control of the patient couch. In tests on a robot system a maximum positioning error of 0.25 mm was achieved for a diversity of medically relevant poses.
Year
DOI
Venue
2011
10.1109/ICARA.2011.6144927
Automation, Robotics and Applications
Keywords
Field
DocType
cameras,medical robotics,patient diagnosis,patient treatment,position control,stereo image processing,camera-based measuring system,cost-effective stereo camera system,diagnostic purposes,online pose control,patient couch,patient handling robots,patient positioning,patient weights,serial kinematics,therapeutic purposes,deflection compensation,medical robots,online measurements,stereo vision
Computer vision,Robotic systems,Stereo camera,Patient Handling,Kinematics,Stereopsis,Workspace,Stereoscopy,Computer science,Artificial intelligence,Robot
Conference
ISBN
Citations 
PageRank 
978-1-4577-0329-4
2
0.47
References 
Authors
4
2
Name
Order
Citations
PageRank
Christian Ziegler121.49
Jörg Franke22620.00