How do I get a robot to execute a plan based on 2D images?
I'm working on a project that requires me to use a navigation tracking camera to visualise the movement of instrumentation and an IRB 120 robotic arm to perform spinal surgery.
The task requires me to
- use the navigation camera to track reference markers specifically placed on the phantom spine model and the IRB120 robot end effector
- develop planning for the IRB 120 robot to position itself in specific drilling trajectories on the spine
- execute these planning paths on the IRB 120 so that it moves towards the planned paths and positions itself in these planned paths over the spine
How do I plan precisely for my robot to position itself over the spine in specific trajectories for drilling?