2026-09-21T20:44:59Zhttps://dspace.mit.edu/server/oai/request

oai:dspace.mit.edu:1721.1/544892022-01-13T07:54:36Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024

Brian W. Anthony. Syverud, Brian (Brian Chen) Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Massachusetts Institute of Technology. Department of Mechanical Engineering 2010-04-28T15:41:29Z 2010-04-28T15:41:29Z 2009 2009 http://hdl.handle.net/1721.1/54489 558587937 Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009. Cataloged from PDF version of thesis. Includes bibliographical references (p. 10). 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. by Brian Syverud. S.B. 14 p. eng Massachusetts Institute of Technology M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 Mechanical Engineering. Robotic ultrasound manipulator : calibration of position and orientation measurement system Thesis application/pdf Publication unknown unknown <Publication xmlns="https://www.openaire.eu/cerif-profile/1.1/" id="7cd1704b-bac4-4df5-b769-89986ce691d2"> <Type xmlns="https://www.openaire.eu/cerif-profile/vocab/COAR_Publication_Types">http://purl.org/coar/resource_type/c_1843</Type> <Language>eng</Language> <Title>Robotic ultrasound manipulator : calibration of position and orientation measurement system</Title> <PublishedIn> <Publication> </Publication> </PublishedIn> <PublicationDate>2009</PublicationDate> <Authors> <Author> <DisplayName>Syverud, Brian (Brian Chen)</DisplayName> <Affiliation> <OrgUnit> </OrgUnit> </Affiliation> </Author> </Authors> <Editors> </Editors> <Publishers> <Publisher> <DisplayName>Massachusetts Institute of Technology</DisplayName> <OrgUnit /> </Publisher> </Publishers> <License>http://dspace.mit.edu/handle/1721.1/7582</License> <Keyword>Mechanical Engineering.</Keyword> <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.</Abstract> <Access xmlns="http://purl.org/coar/access_right" > </Access> </Publication>