Calibration control to maintain US focal point accuracy and its application to parallel link robot

Abstract

In this study, for the control of a small object in blood vessel by acoustic radiation force, a therapeutic ultrasonic transducer is controlled. The objective of this research is to develop a position / posture calibration control to maintain ultrasonic irradiation position accuracy and to apply to a parallel link robot. We have verified the performance of calibration control using a parallel link robot. As a result, the robot achieved positioning even when there were trackers could not be detected by the optical 3D position sensor during position control of the transducer, where the usefulness of the system was suggested. In this calibration control, the position and posture of the robot are calculated using an optical 3D position sensor and inertial sensor, and calculate the error from the command value at that moment. Then, maintaining ultrasonic irradiation position accuracy by subtracting from the command value at the next moment.