Robotic Ultrasound Needle Placement and Tracking: Robot-to-Robot Calibration
نویسندگان
چکیده
In medicine and industry, there is a need for flexible multirobot platforms that allow for independent placement of multiple robotic manipulators. The Computer Aided Medical Procedures research group at Johns Hopkins University has developed a multi-robot surgical platform with two KUKA iiwa robotic manipulators. Each KUKA system is built into a mobile workstation, which makes them easy to transport and less obtrusive in an operating room environment. Instead of an externally mounted tracking camera, each KUKA is mounted with an Intel RealSense RGB-D camera.
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