Geometric Calibration of a 12-Axis Robotic X-Ray System for Large Animal Diagnostic Imaging
Source abstract
Abstract
Large animals pose unique challenges when collecting diagnostic radiographic images due to the size and power constraints of current human-focused devices. A slit-scan radiographic system mounted on a purpose-built robotic manipulator can provide a solution to these imaging challenges. Accurate robotic motion over large spatial volumes is required for the gamut of large animal imaging tasks. Thus, we calibrate the robot mechanism parameters using motion capture measures and demonstrate that this system is able to achieve diagnostic quality X-ray imaging capabilities.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Soft Robotics and Applications · Advanced Radiotherapy Techniques · Augmented Reality Applications
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, FL 32607, USA
Department of Large Animal Clinical Sciences, University of Florida, Gainesville, FL 32607, USA
Lillian S. Wells Department of Neurosurgery, University of Florida, Gainesville, FL 32607, USA
School of Medicine, Indiana University, Indianapolis, IN 46202, USA
Funding
University of Florida Department of Large Animal Clinical Sciences and College of Veterinary Medicine
References (20)
Show source-provided references
1. Imaging Techniques in Veterinary Medicine. Part I: Radiography and Ultrasonography10.1016/j.ejro.2021.100382 ↗
2. Radiographic Findings of Juvenile Osteochondral Conditions Detected in 392 Foals Using a Field Radiographic Protocol10.1016/j.tvjl.2013.03.040 ↗
3. International Atomic Energy Agency (2021). Radiation Protection and Safety in Veterinary Diagnostic Radiology Using X Rays. Radiation Protection and Safety in Veterinary Medicine, International Atomic Energy Agency.
4. Common Artefacts and Pitfalls in Equine Computed and Digital Radiography and How to Avoid Them10.1111/eve.12595 ↗
5. Digital Radiography in Equine Practice10.1053/j.ctep.2005.02.013 ↗
6. Interaction of keV Photons with Matter and New Applications10.1016/0370-1573(92)90086-F ↗
7. Anti-Scattering X-Ray Grid10.1007/s005420050128 ↗
8. Investigation of Optimum Anti-Scatter Grid Selection for Digital Radiography: Physical Imaging Properties and Detectability of Low-Contrast Signals10.1007/s12194-012-0169-y ↗
9. Slit Radiography: Problems and Potential10.1117/12.958929 ↗
10. EOS® Biplanar X-Ray Imaging: Concept, Developments, Benefits, and Limitations10.1007/s11832-016-0713-0 ↗
11. Evaluation of a Full-Scale Gas Microstrip Detector for Low-Dose X-Ray Imaging10.1016/j.nima.2004.07.169 ↗
12. Fundamental Imaging Characteristics of a Slot-Scan Digital Chest Radiographic System10.1118/1.1783531 ↗
13. A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices10.1115/1.4011045 ↗
14. Judd, R., and Knasinski, A. (1987, January 31). A Technique to Calibrate Industrial Robots with Experimental Verification. Proceedings of the 1987 IEEE International Conference on Robotics and Automation, Raleigh, NC, USA.
15. Improved Positioning Accuracy of the PA10-6CE Robot with Geometric and Flexibility Calibration10.1109/TRO.2007.914003 ↗
16. NaturalPoint, Inc. (2021). Motive Body, NaturalPoint, Inc.. version 2.3.1.
17. (2025, October 01). DC-HYDRA Photon Counting Detectors. Available online: https://www.vareximaging.com/wp-content/uploads/2022/12/DC-HYDRA_154488-000-Rev-C.pdf.
18. Varex Imaging (2025, September 14). HPX-225-11 Datasheet. Available online: https://www.vareximaging.com/wp-content/uploads/2022/01/HPX-225-11pds_0.pdf.
19. Miroslav, B. (2023, May 01). LMFsolve.m: Levenberg–Marquardt–Fletcher Algorithm for Nonlinear Least Squares Problems. Available online: https://www.mathworks.com/matlabcentral/fileexchange/16063-lmfsolve-m-levenberg-marquardt-fletcher-algorithm-for-nonlinear-least-squares-problems.
20. (TwinCAT, 2023). TwinCAT, version 3.0.0; MC_MoveAbsolute, TwinCAT 3 PLC Tc2_MC2.