Raman Spectra Analysis, Image Guidance, And Kinematic Calibration

219 Pages·2014·3.54 MB·English

by  Luke Anthony Reisner

Wayne State University
Wayne State University Dissertations
1-1-2012
Techniques For Sensor-Integrated Robotic
Systems: Raman Spectra Analysis, Image Guidance,
And Kinematic Calibration
Luke Anthony Reisner
Wayne State University,
Follow this and additional works at:http://digitalcommons.wayne.edu/oa_dissertations
Recommended Citation
Reisner, Luke Anthony, "Techniques For Sensor-Integrated Robotic Systems: Raman Spectra Analysis, Image Guidance, And
Kinematic Calibration" (2012).Wayne State University Dissertations.Paper 614.
This Open Access Dissertation is brought to you for free and open access by DigitalCommons@WayneState. It has been accepted for inclusion in
Wayne State University Dissertations by an authorized administrator of DigitalCommons@WayneState.
TECHNIQUES FOR SENSOR-INTEGRATED ROBOTIC SYSTEMS:
RAMAN SPECTRA ANALYSIS, IMAGE GUIDANCE, AND
KINEMATIC CALIBRATION
by
LUKE ANTHONY REISNER
DISSERTATION
Submitted to the Graduate School
of Wayne State University,
Detroit, Michigan,
in partial fulfillment of the requirements
for the degree of
DOCTOR OF PHILOSOPHY
2012
MAJOR: COMPUTER ENGINEERING
Approved by:

__________________________________
Advisor Date

__________________________________

__________________________________

__________________________________
© COPYRIGHT
LUKE ANTHONY REISNER
2012
All rights reserved
DEDICATION
This dissertation is dedicated to all the ladies out there. And also to my parents.
ii
ACKNOWLEDGEMENTS
I would like to express my sincere gratitude to Alex Cao, Dr. Rachel Kast, Dr. Brady King,
Dr. Michael Klein, and Dr. Abhilash Pandya for their support in this work.
iii
TABLE OF CONTENTS
Dedication ....................................................................................................................................... ii
Acknowledgements ........................................................................................................................ iii
List of Tables ................................................................................................................................. ix
List of Figures ............................................................................................................................... xii
Chapter 1: Introduction and Motivation ........................................................................................ 1
1.1 Robotics and Sensor Technology ..................................................................................... 1
1.1.1 Surgical Robotics ...................................................................................................... 3
1.1.2 Raman Spectroscopy ................................................................................................. 3
1.1.3 Image Guidance ........................................................................................................ 4
1.2 Problems in Sensor-Integrated Robotics .......................................................................... 5
1.2.1 Sensor Signal Analysis Problems ............................................................................. 6
1.2.2 Integrated Robot/Sensor Problems ........................................................................... 6
1.2.3 Robot Accuracy Problems ........................................................................................ 7
1.3 Aim and Scope of Research ............................................................................................. 8
1.4 Specific Research Objectives ........................................................................................... 9
1.5 Novelty and Significance ............................................................................................... 11
1.5.1 Sensor Signal Analysis ........................................................................................... 11
1.5.2 Robot/Sensor Integration ........................................................................................ 12
1.5.3 Robot Accuracy ...................................................................................................... 12
1.5.4 Combined Impact .................................................................................................... 13
1.6 Organization of the Dissertation .................................................................................... 13
Chapter 2: General Background ................................................................................................... 15
2.1 Overview ........................................................................................................................ 15
2.2 Raman Spectroscopy ...................................................................................................... 15
iv
2.2.1 Raman Applications ................................................................................................ 17
2.2.2 Analysis of Spectra ................................................................................................. 18
2.2.3 Classification of Spectra ......................................................................................... 21
2.3 Robot Modeling.............................................................................................................. 24
2.3.1 The Original Denavit–Hartenberg Convention ....................................................... 24
2.3.2 Craig’s Modified Denavit–Hartenberg Convention ................................................ 30
Chapter 3: Raman Software System ............................................................................................ 32
3.1 Introduction .................................................................................................................... 32
3.2 Overview ........................................................................................................................ 32
3.3 Acknowledgements ........................................................................................................ 33
3.4 Background and Motivation ........................................................................................... 34
3.4.1 Related Work .......................................................................................................... 35
3.5 System Architecture ....................................................................................................... 38
3.5.1 Data Structure and Extensibility ............................................................................. 40
3.5.2 Data Input and Management ................................................................................... 41
3.5.3 Spectral Processing ................................................................................................. 43
3.5.4 Spectral Analysis and Classification ....................................................................... 47
3.5.5 Spectral Graphing ................................................................................................... 54
3.6 System Evaluation .......................................................................................................... 56
3.7 Discussion ...................................................................................................................... 60
3.7.1 Future Work ............................................................................................................ 61
Chapter 4: Image Guidance and Robotics for Sensors ................................................................ 62
4.1 Introduction .................................................................................................................... 62
4.2 Overview ........................................................................................................................ 62
4.3 Background and Motivation ........................................................................................... 63
v
4.3.1 Raman Spectroscopy ............................................................................................... 64
4.3.2 Image-Guided Surgery ............................................................................................ 65
4.4 Materials and Methods ................................................................................................... 66
4.4.1 Tracking Arm .......................................................................................................... 67
4.4.2 Medical Robot ......................................................................................................... 69
4.4.3 Tracking Algorithms ............................................................................................... 69
4.4.4 Raman Spectrometer ............................................................................................... 72
4.4.5 Raman Classification .............................................................................................. 73
4.4.6 Virtual Reality Visualization .................................................................................. 74
4.4.7 Augmented Reality Visualization ........................................................................... 75
4.5 Results ............................................................................................................................ 77
4.5.1 Preliminary AESOP 1000 Results .......................................................................... 78
4.6 Discussion and Future Work .......................................................................................... 78
Chapter 5: Fixed-Point Kinematic Calibration ............................................................................ 81
5.1 Introduction .................................................................................................................... 81
5.2 Overview ........................................................................................................................ 81
5.3 Background and Related Work ...................................................................................... 82
5.3.1 Kinematic Calibration ............................................................................................. 82
5.3.2 Open-Loop Kinematic Calibration ......................................................................... 83
5.3.3 Closed-Loop Kinematic Calibration ....................................................................... 91
5.3.4 Fixed-Point Kinematic Calibration ......................................................................... 96
5.4 Description of the Technique ....................................................................................... 105
5.4.1 Overview ............................................................................................................... 105
5.4.2 External Inputs to the Technique .......................................................................... 106
5.4.3 Phase 1: Measurement of Joint Configurations ................................................... 108
vi
5.4.4 Phase 2: Execution of the Calibration Algorithms .............................................. 111
5.4.5 Phase 3: Measurement of Registration Points ..................................................... 127
5.4.6 Phase 4: Execution of the Registration Algorithm .............................................. 128
5.5 Caveats for the Technique ............................................................................................ 133
5.5.1 Limitations of Denavit–Hartenberg Parameters ................................................... 134
5.5.2 Lack of Orientation Optimization ......................................................................... 135
5.5.3 Necessity of Registration ...................................................................................... 135
5.6 Experiments .................................................................................................................. 136
5.6.1 Overview ............................................................................................................... 136
5.6.2 Robot Models ........................................................................................................ 136
5.6.3 Ideal Simulation Experiment ................................................................................ 141
5.6.4 Noisy Simulation Experiment ............................................................................... 145
5.6.5 Real Robot Experiment ......................................................................................... 148
5.7 Results .......................................................................................................................... 154
5.7.1 Ideal Simulation Results ....................................................................................... 154
5.7.2 Noisy Simulation Results ...................................................................................... 162
5.7.3 Real Robot Results ................................................................................................ 170
5.8 Discussion .................................................................................................................... 173
5.8.1 Ideal Simulation Discussion ................................................................................. 173
5.8.2 Noisy Simulation Discussion ................................................................................ 175
5.8.3 Real Robot Discussion .......................................................................................... 178
5.9 Conclusion .................................................................................................................... 179
5.10 Future Work ................................................................................................................. 180
Chapter 6: Summary and Future Work ...................................................................................... 182
6.1 Summary ...................................................................................................................... 182
vii
6.2 Future Work ................................................................................................................. 182
References ................................................................................................................................... 185
Abstract ....................................................................................................................................... 202
Autobiographical Statement........................................................................................................ 204

viii