Experimental and Theoretical Design Analysis and Modeling of a CT Image Guided Robotic Arm

Abstract

This research attempts to design a robotic arm that can help doctors with biopsies which is guided by using CT scan images. This robotic arm will only need X, Y and Z target coordinate points as input and the end needle of the robotic arm will travel to that desired coordinate point. A robotic arm will be steady, accurate, precise and tremor free. This robotic arm has 5 DOF. Transformation matrix for such robotic arm is formulated using forward and inverse kinematics. Workspace graph is produced in MATLAB. Path tracing simulation of the robotic arm is done using joint space method and Cartesian coordinate method using MATLAB software and RVC toolbox. An actual working model of the robotic arm is developed using stepper motors as actuators. Experimental Testing of the robotic arm is done by programming the robotic arm Using ARDUINO to reach a desired point on the surface of an apple. Slight deviation in theoretical and experimental testing was found. The reason for error are found by graphing noise in the circuit in real time in LABVIEW oscilloscope using MYDAQ connected to stepper motor.