Scholarlink

In this project, we aim to control the position of a robotic arm for surgical tasks using coordinates obtained through computer vision with a synchronous 3D stereo VR USB camera. The precision of the tool center point (TCP) positioning is evaluated using experimental methodologies for camera calibration and stereoscopy, and validated through real-world measurement tests. Once the x-y-z coordinates and the manipulator’s kinematics are known, any task requiring robotic control can be executed without the user needing to manually specify the desired TCP position. This methodology could be integrated as part of the control algorithm for a robotic arm designed to assist or perform surgical procedures.

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Proposal of a Calibration of Vision Systems for a Surgical Robotic Arms

  • 会议论文

  • 发表日期：

    2026年

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  • Noe Robles Gallo,
  • Miguel Angel Casillas,
  • Rosario Baltazar,
  • Martha Alicia Rocha,
  • Juan Francisco Mosiño

摘要

In this project, we aim to control the position of a robotic arm for surgical tasks using coordinates obtained through computer vision with a synchronous 3D stereo VR USB camera. The precision of the tool center point (TCP) positioning is evaluated using experimental methodologies for camera calibration and stereoscopy, and validated through real-world measurement tests. Once the x-y-z coordinates and the manipulator’s kinematics are known, any task requiring robotic control can be executed without the user needing to manually specify the desired TCP position. This methodology could be integrated as part of the control algorithm for a robotic arm designed to assist or perform surgical procedures.