An in-process robot calibration of serial link manipulator arm based on a 3-D machine vision for minimal invasive orthopedic surgery operation / Muhammad Azmi Ayub … [et al.]

The long term aim of this research project is to design and develop a minimum invasive surgery for femur orthopaedic robot assisted surgery. This requires a fast with high accuracy and quality of the surgery operation. Three main objectives in this research were addressed. These objectives are as fo...

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Bibliographic Details
Main Authors:	Ayub, Muhammad Azmi, Taib, Mohd Nasir, Jaafar, Roseleena, Omar, Ahmad Maliki, Manurung, Yupiter Harangan Prasada
Format:	Research Reports
Language:	English
Published:	Research Management Institute (RMI) 2010
Subjects:	Mechanical devices and figures. Automata. Ingenious mechanisms.Robots (General)
Online Access:	http://ir.uitm.edu.my/id/eprint/23674/ http://ir.uitm.edu.my/id/eprint/23674/1/LP_MUHAMMAD%20AZMI%20AYUB%20RMI%2010_5.pdf

id	uitm-23674
recordtype	eprints
spelling	uitm-236742019-04-22T02:41:35Z http://ir.uitm.edu.my/id/eprint/23674/ An in-process robot calibration of serial link manipulator arm based on a 3-D machine vision for minimal invasive orthopedic surgery operation / Muhammad Azmi Ayub … [et al.] Ayub, Muhammad Azmi Taib, Mohd Nasir Jaafar, Roseleena Omar, Ahmad Maliki Manurung, Yupiter Harangan Prasada Mechanical devices and figures. Automata. Ingenious mechanisms.Robots (General) The long term aim of this research project is to design and develop a minimum invasive surgery for femur orthopaedic robot assisted surgery. This requires a fast with high accuracy and quality of the surgery operation. Three main objectives in this research were addressed. These objectives are as follows, • To identify the source of errors in robot trajectory planning during the drilling operation of bone surgery and determine the in-process calibration procedures using a 3 dimensional vision system and 6 degrees of freedom force-toque sensor for compensating the trajectory planning errors. • To calibrate and evaluate the drilling force and torque profile for compensating the errors in robot trajectory planning during the drilling operation. • To determine the performance of the robotic bone drilling operation In order to achieve the abovementioned objectives, the integrated mechatronic research methodology which encompasses development of the hardware and software of the system is very important and has been realised. The hardware components of the mechatronic system consist of two sub-system which are as follows: i. An industrial robotic system ii. A machine vision system The software components of the mechatronic system of the orthopedic surgery consist of two computer algorithms: i. Machine vision computer algorithms for the calibration procedures, ii. Computer algorithm to generate the trajectory planning and to control the motion of the robot. The method of in-process calibrations will be explained, analysed and evaluated. Finally, the performance of the robotic trajectory planning during the bone drilling will also be explained, analysed and evaluated. Research Management Institute (RMI) 2010 Research Reports NonPeerReviewed text en http://ir.uitm.edu.my/id/eprint/23674/1/LP_MUHAMMAD%20AZMI%20AYUB%20RMI%2010_5.pdf Ayub, Muhammad Azmi and Taib, Mohd Nasir and Jaafar, Roseleena and Omar, Ahmad Maliki and Manurung, Yupiter Harangan Prasada (2010) An in-process robot calibration of serial link manipulator arm based on a 3-D machine vision for minimal invasive orthopedic surgery operation / Muhammad Azmi Ayub … [et al.]. [Research Reports] (Unpublished)
repository_type	Digital Repository
institution_category	Local University
institution	Universiti Teknologi MARA
building	UiTM Institutional Repository
collection	Online Access
language	English
topic	Mechanical devices and figures. Automata. Ingenious mechanisms.Robots (General)
spellingShingle	Mechanical devices and figures. Automata. Ingenious mechanisms.Robots (General) Ayub, Muhammad Azmi Taib, Mohd Nasir Jaafar, Roseleena Omar, Ahmad Maliki Manurung, Yupiter Harangan Prasada An in-process robot calibration of serial link manipulator arm based on a 3-D machine vision for minimal invasive orthopedic surgery operation / Muhammad Azmi Ayub … [et al.]
description	The long term aim of this research project is to design and develop a minimum invasive surgery for femur orthopaedic robot assisted surgery. This requires a fast with high accuracy and quality of the surgery operation. Three main objectives in this research were addressed. These objectives are as follows, • To identify the source of errors in robot trajectory planning during the drilling operation of bone surgery and determine the in-process calibration procedures using a 3 dimensional vision system and 6 degrees of freedom force-toque sensor for compensating the trajectory planning errors. • To calibrate and evaluate the drilling force and torque profile for compensating the errors in robot trajectory planning during the drilling operation. • To determine the performance of the robotic bone drilling operation In order to achieve the abovementioned objectives, the integrated mechatronic research methodology which encompasses development of the hardware and software of the system is very important and has been realised. The hardware components of the mechatronic system consist of two sub-system which are as follows: i. An industrial robotic system ii. A machine vision system The software components of the mechatronic system of the orthopedic surgery consist of two computer algorithms: i. Machine vision computer algorithms for the calibration procedures, ii. Computer algorithm to generate the trajectory planning and to control the motion of the robot. The method of in-process calibrations will be explained, analysed and evaluated. Finally, the performance of the robotic trajectory planning during the bone drilling will also be explained, analysed and evaluated.
format	Research Reports
author	Ayub, Muhammad Azmi Taib, Mohd Nasir Jaafar, Roseleena Omar, Ahmad Maliki Manurung, Yupiter Harangan Prasada
author_facet	Ayub, Muhammad Azmi Taib, Mohd Nasir Jaafar, Roseleena Omar, Ahmad Maliki Manurung, Yupiter Harangan Prasada
author_sort	Ayub, Muhammad Azmi
title	An in-process robot calibration of serial link manipulator arm based on a 3-D machine vision for minimal invasive orthopedic surgery operation / Muhammad Azmi Ayub … [et al.]
title_short	An in-process robot calibration of serial link manipulator arm based on a 3-D machine vision for minimal invasive orthopedic surgery operation / Muhammad Azmi Ayub … [et al.]
title_full	An in-process robot calibration of serial link manipulator arm based on a 3-D machine vision for minimal invasive orthopedic surgery operation / Muhammad Azmi Ayub … [et al.]
title_fullStr	An in-process robot calibration of serial link manipulator arm based on a 3-D machine vision for minimal invasive orthopedic surgery operation / Muhammad Azmi Ayub … [et al.]
title_full_unstemmed	An in-process robot calibration of serial link manipulator arm based on a 3-D machine vision for minimal invasive orthopedic surgery operation / Muhammad Azmi Ayub … [et al.]
title_sort	in-process robot calibration of serial link manipulator arm based on a 3-d machine vision for minimal invasive orthopedic surgery operation / muhammad azmi ayub … [et al.]
publisher	Research Management Institute (RMI)
publishDate	2010
url	http://ir.uitm.edu.my/id/eprint/23674/ http://ir.uitm.edu.my/id/eprint/23674/1/LP_MUHAMMAD%20AZMI%20AYUB%20RMI%2010_5.pdf
first_indexed	2023-09-18T23:11:09Z
last_indexed	2023-09-18T23:11:09Z
_version_	1777418810821705728

An in-process robot calibration of serial link manipulator arm based on a 3-D machine vision for minimal invasive orthopedic surgery operation / Muhammad Azmi Ayub … [et al.]

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