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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Monnich, H. Raczkowsky, J. Stein, D. Worn, H. |
| Copyright Year | 2009 |
| Description | Author affiliation: Institute for Process Control and Robotics, University of Karlsruhe, Germany (Monnich, H.; Raczkowsky, J.; Stein, D.; Worn, H.) |
| Abstract | In laser osteotomy bone is cut precisely with a laser. A robot is used to position an end-effector with a scanhead, which deflects the cutting laser. An optical tacking system (OTS) tracks the position of the bone, in our case a skull, and the end effector. The skull is registered to its model, based on a segmented CT data, as well as the robot to the OTS. With this a complete transformation chain between the model and the robot coordinate system is given. Using the transformation chain the positions, where the laser beam is emitted and where it has to incise the skull, can be computed for the robot coordinate system. The complete registration processes introduce different errors in every step. To achieve clean cuts the correct distance between scanhead and ablated bone segment is crucial. Therefore a distance sensor is attached to the end-effector, measuring the distance to the skull with an accuracy of 100µm. The value is used to adjust the positioning to the correct distance. |
| Starting Page | 1684 |
| Ending Page | 1688 |
| File Size | 842766 |
| Page Count | 5 |
| File Format | |
| ISBN | 9781424445486 |
| ISSN | 19300395 |
| DOI | 10.1109/ICSENS.2009.5398519 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-10-25 |
| Publisher Place | New Zealand |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Sensor systems Robot sensing systems Robot kinematics Laser beam cutting Skull Bones Laser modes Optical sensors End effectors Laser beams |
| Content Type | Text |
| Resource Type | Article |
| Subject | Electrical and Electronic Engineering |
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