摘要
针对美国德克萨斯州大学阿灵顿分校(UTA)生物实验室的最新科研进展,构建一套可在实验室使用的小型近距离激光治疗的平台。该平台由工业相机、多自由度机械臂、激光器、上位机4部分构成。工业相机选用2款德国研制的高精度工业相机,用来对目标成像造影和利用成像的点云图实现对目标三维模型构建。机械臂选用越疆科技公司研发的多自由度机械臂,具有操作灵活、模块多样、容易二次开发等优势。平台搭建初期,上位机暂时用笔记本电脑代替,且并未用到激光器模块。完成了工业相机标定、机械臂操作、相机—上位机—机械臂3个模块的协同配合等工作。这些工作为该生物实验室后续完善系统,进行实际医疗操作奠定基础。
In response to the latest scientific research progress of the University of Texas at Arlington(UTA)biological laboratory,a set of small brachytherapy platforms that can be used in the laboratory are constructed.The platform consists of four parts:industrial camera,multi degree of freedom robot arm,laser and upper computer.The industrial cameras use two high-precision industrial cameras developed in Germany,which are used to image contrast of the target and use the image point cloud image to realize the construction of the three-dimensional model of the target.The multi degree of freedom robot arm developed by Yuejiang Technology Co.is selected,which has the advantages of flexible operation,diverse modules,and easy secondary development.In the initial stage of platform construction,the upper computer was temporarily replaced with a laptop computer,and the laser module was not used.Completing the calibration of industrial cameras,the operation of the robot arm,and the coordination of the three modules of camera-host computer-robot arm.These work laid the foundation for the follow-up improvement of the biological laboratory and actual medical operations.
作者
王凤祥
张志杰
Jin Mingwu
陈昊泽
Wang Fengxiang;Zhang Zhijie;Jin Mingwu;Chen Haoze(Schoal of Instrument and Elctronics.North University of China.Taiyuan 030051,Chins;Key L.abontory of Instrument Science&Dynamic Measurement,Ministry of Education,Taiyuan 030051,China;University of Texas at Arlington,Texas 76001,Americn)
出处
《电子测量技术》
2020年第17期51-57,共7页
Electronic Measurement Technology
关键词
激光治疗
工业相机
机械臂
上位机
laser treatment
industrial camera
robot arm
upper computer
作者简介
通信作者:王凤祥,硕士研究生,主要研究方向为工业相机标定、多自由度机械臂控制、动态测试与校准技术。E-mail:3371750184@qq.com;张志杰,博士、教授,主要研究方向为动态测试、数字信号处理等。E-mail:zhangzhijie@nuc.edu.cn Jin;Mingwu,博士,副教授,主要研究方向为生物医学、医学图像处理等。E-mail:mingwu@uta.edu;陈昊泽,博士研究生,主要研究方向为语音信号处理、神经网络、动态测试等。E-mail:15930663972@163.com。
