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Laser Registration and Supervisory Control of neuroArm Robotic Surgical System

Year: 2017 Volume: 11 Issue: 8 1407 - 1414 Pages

• Authors:
• Hamidreza Hoshyarmanesh
• Hosein Madieh
• Sanju Lama
• Yaser Maddahi
• Garnette R. Sutherland
• Kourosh Zareinia

Abstract: This paper illustrates the concept of an algorithm to register specified markers on the neuroArm surgical manipulators, an image-guided MR-compatible tele-operated robot for microsurgery and stereotaxy. Two range-finding algorithms, namely time-of-flight and phase-shift, are evaluated for registration and supervisory control. The time-of-flight approach is implemented in a semi-field experiment to determine the precise position of a tiny retro-reflective moving object. The moving object simulates a surgical tool tip. The tool is a target that would be connected to the neuroArm end-effector during surgery inside the magnet bore of the MR imaging system. In order to apply flight approach, a 905-nm pulsed laser diode and an avalanche photodiode are utilized as the transmitter and receiver, respectively. For the experiment, a high frequency time to digital converter was designed using a field-programmable gate arrays. In the phase-shift approach, a continuous green laser beam with a wavelength of 530 nm was used as the transmitter. Results showed that a positioning error of 0.1 mm occurred when the scanner-target point distance was set in the range of 2.5 to 3 meters. The effectiveness of this non-contact approach exhibited that the method could be employed as an alternative for conventional mechanical registration arm. Furthermore, the approach is not limited by physical contact and extension of joint angles.

• Keywords:
• 3D laser scanner
• intraoperative MR imaging
• neuroArm
• real time registration
• robot-assisted surgery
• supervisory control.

Development of 3D Laser Scanner for Robot Navigation

Year: 2013 Volume: 7 Issue: 12 1714 - 1716 Pages

• Authors:
• A. Emre Ozturk
• Ergun Ercelebi

Abstract: Autonomous robotic systems need an equipment like a human eye for their movement. In this study a 3D laser scanner has been designed and implemented for those autonomous robotic systems. In general 3D laser scanners are using 2 dimension laser range finders that are moving on one-axis (1D) to generate the model. In this study, the model has been obtained by a one-dimensional laser range finder that is moving in two –axis (2D) and because of this the laser scanner has been produced cheaper.

• Keywords:
• 3D Laser Scanner
• embedded systems.