Brightfield microscopy metrology system for the evaluation of high precision medical robotic system

Huang, Xiaoyu, Rendon-Morales, Elizabeth and Aviles Espinosa, Rodrigo (2023) Brightfield microscopy metrology system for the evaluation of high precision medical robotic system. Focus on Microscopy, Porto, Portugal, April 2nd - 5th 2023. Published in: FOM 2023 Conference proceedings. (Accepted)

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Abstract

The development of future surgical therapies has driven the efforts to increase the precision of robot-guided
manipulators for medical applications such as reconstructive microsurgery, vitreoretinal eye surgery and cellular
neurosurgery, all requiring submillimeter accuracies. Interferometric systems are routinely employed to evaluate
and optimize robotic systems dexterity. These however are complex devices, requiring expert knowledge on its
operation and results interpretation. Optical microscopes provide high magnifications making these suitable to
perform high precision measurements based on visual inspection simplifying results interpretation.

In this paper, we present a non-contact metrology approach based on bright field microscopy (BFM) to characterize the
precision and kinematic performance of a custom-made 3 degrees of freedom linear parallel robotic manipulator
designed for high precision surgical tasks achieving a theoretical resolution < 1μm.

Item Type: Conference Proceedings
Keywords: Robotics, High precision, metrology, microscopy, medical instrumentation
Schools and Departments: School of Engineering and Informatics > Engineering and Design
SWORD Depositor: Mx Elements Account
Depositing User: Mx Elements Account
Date Deposited: 28 Mar 2023 10:09
Last Modified: 28 Mar 2023 10:09
URI: http://sro.sussex.ac.uk/id/eprint/111463

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