Robotic ultrasound manipulator : calibration of position and orientation measurement system
Name
558587937-MIT.pdf
Description
Full printable version
Size
2.96 MB
Format
Adobe PDF
Checksum (MD5)
4a9e0ce86c11c1f43fc4fdc1ca8c6dde
Author(s)
Syverud, Brian (Brian Chen)
Advisor(s)
Brian W. Anthony.
Date Issued
2009
Publisher
Massachusetts Institute of Technology
Abstract
The ultimate goal of this project is to develop a fixture for holding and manipulating an ultrasound wand as adeptly as a trained technician. From the 2D slices recorded by an ultrasound transducer, a three-dimensional image can be reconstructed. To reconstruct the 3D image, position and orientation data are needed. In the interests of space and simplicity, a sensor integrating both a gyroscope and accelerometer was chosen for these measurements. Because of the inherent error induced by integrating acceleration to yield position, it was necessary to calibrate this instrument. A fixture was constructed with preset reference points for the purposes of comparison and error analysis. As expected, the measurements obtained directly from the gyroscope were sufficiently accurate to track orientation. The position values from integration of acceleration exhibited accumulation of error over time. From these data, it was clear that a secondary reference instrument is needed for accurate position measurements.
Description
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 10).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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copyright. They may be viewed from this source for any purpose, but
reproduction or distribution in any format is prohibited without written
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