Abstract
Patient handling robots are increasingly employed 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 chapter a low-cost measuring system for a permanent integration into the workspace of a patient handling robot is introduced which can measure the pose of a patient couch with high accuracy. This enables closed-loop control of the patient couch. In tests on a robot system an average positioning error of 0.12 mm was achieved for a diversity of medically relevant poses.
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Acknowledgments
This work was partially supported and funded by Siemens Healthcare and the German Federal Ministry of Education and Research (BMBF), project grant No. 01 EX 1012 A.
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Ziegler, C., Franke, J. (2013). Closed-Loop Control of Patient Handling Robots. In: Sen Gupta, G., Bailey, D., Demidenko, S., Carnegie, D. (eds) Recent Advances in Robotics and Automation. Studies in Computational Intelligence, vol 480. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-37387-9_18
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DOI: https://doi.org/10.1007/978-3-642-37387-9_18
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