Evidence map›Paper›PMID 36129421›Full record

Article... International Symposium on Medical Robotics. International Symposium on Medical Robotics2022

Delta Robot Kinematic Calibration for Precise Robot-Assisted Retinal Surgery.

Boyang Xiao, Alireza Alamdar, Kefan Song, Ali Ebrahimi, Peter Gehlbach, Russell H Taylor, Iulian Iordachita

Abstract read
PubMed Full text at PMC Publisher
In one paragraph

Article in ... International Symposium on Medical Robotics. International Symposium on Medical Robotics, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.

0numbers the graph read from it
0cells of the map it votes in
1citing papers in PubMed
–field-weighted citation impact
1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.

Neither the registry nor the abstract names a trial number. If this is a trial report, that itself is worth knowing.

3 · Its place in the literature

Who cites it

1 citing paper in PubMed.

  1. Article
4 · The record

Corrections and comments

PubMed lists nothing against this paper. Absence here is not a guarantee, only a check that was made.

5 · Who and what money

Authors and funding

7 authors.

Boyang XiaoLCSR at the Johns Hopkins University, Baltimore, MD 21218 USA.
Alireza AlamdarLCSR at the Johns Hopkins University, Baltimore, MD 21218 USA.
Kefan SongLCSR at the Johns Hopkins University, Baltimore, MD 21218 USA.
Ali EbrahimiLCSR at the Johns Hopkins University, Baltimore, MD 21218 USA.
Peter GehlbachWilmer Eye Institute, Johns Hopkins Hospital, Baltimore, MD 21287 USA.
Russell H TaylorLCSR at the Johns Hopkins University, Baltimore, MD 21218 USA.
Iulian IordachitaLCSR at the Johns Hopkins University, Baltimore, MD 21218 USA.

Funding

Enabling technology for image-guided robot-assisted sub-retinal injectionsR01EB025883 · NIBIB · JOHNS HOPKINS UNIVERSITY · PI IORDACHITA, IULIAN IOAN · 2019 to 2021
$1.5M
NIBIB NIH HHS R01 EB025883
6 · The paper itself

Abstract

High precision is required for ophthalmic robotic systems. This paper presents the kinematic calibration for the delta robot which is part of the next generation of Steady-Hand Eye Robot (SHER). A linear error model is derived based on geometric error parameters. Two experiments with different ranges of workspace are conducted with laser sensors measuring displacement. The error parameters are identified and applied in the kinematics to compensate for modeling error. To achieve better accuracy, Bernstein polynomials are adopted to fit the error residuals after compensation. After the kinematic calibration process, the error residuals of the delta robot are reduced to satisfy the clinical requirements.

Identifiers

PMID36129421
PMCPMC9484559

What OpenQuestion holds

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Registered trials

None linked

Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.