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KMID : 1147120120180010046
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Journal of the Korean Society of Imaging Informatics in Medicine
2012 Volume.18 No. 1 p.46 ~ p.51
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A Study about 3D Quantitative Positional Information of Multi DOF Passive Arm
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Jung Hyun-Chul
Son Jae-Bum
Kim Min-Tae
Cho Chang-Nho
Kim Kwang-Gi
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Abstract
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Various attempts and approaches are being made while the role of robot in the field of medical devicesgetting grow. In this process, for the accuracy of the work by robot is not overemphasized excesses.When location of the lesion which is obtained through medical image sends to the robot, theyperform tasks based on the information which is compared with their location information. In thisstudy, how to obtain their location information in comparing‘ method a : installing potential meters oneach joint of multi degree of freedom link structure, convert the resistance value to angle and then usekinematics in order to obtain location information of end-effecter’with ‘method b : using stereoscopywith Wiimote in order to obtain location information with 3D imaging’. Method A side advantage of experimentalresults showed that.
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KEYWORD
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Robot, Location information, Wiimote, Link structure, 3D imaging
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