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Closed-Loop Control of Patient Handling Robots

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Book cover Recent Advances in Robotics and Automation

Part of the book series: Studies in Computational Intelligence ((SCI,volume 480))

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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Authors and Affiliations

  1. Institute for Factory Automation and Production Systems (FAPS), Friedrich-Alexander-University Erlangen-Nuremberg, Egerlandstr. 7-9, 91058, Erlangen, Germany

    Christian Ziegler & Jörg Franke

Authors
  1. Christian Ziegler
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  2. Jörg Franke
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Corresponding author

Correspondence to Christian Ziegler .

Editor information

Editors and Affiliations

  1. School of Engineering &, Advanced Technology (SEAT), Massey University, Private Bag 11 222, Palmerston North, 4442, New Zealand

    Gourab Sen Gupta

  2. , School of Engineering and Advanced Techn, Massey University, Private Bag 11 222, Palmerston North, 4442, New Zealand

    Donald Bailey

  3. , Saigon South Campus, RMIT International University, Nguyen Van Linh City 702, Ho Chi Minh City, 70000, Vietnam

    Serge Demidenko

  4. , School of Engineering and Computer Scien, Victoria University of Wellington, Wellington, 6140, New Zealand

    Dale Carnegie

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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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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-37386-2

  • Online ISBN: 978-3-642-37387-9

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