In order to improve the performance of robotic laser medical operations, various methods are used to control the distance from the laser head or objective optics to the surface to be treated, and algorithms for correcting robot movements are built on their basis, which makes it possible to achieve high-precision processing. This study evaluated data of the reflected laser emission feedback sensor on uneven surfaces for use in robotic laser processing automation. As an uneven surface, a produced on a 3D printer detail with different profiles was used, which had been measured on conturograph before the experiments. Then, data were obtained from the feedback sensor of laser when passing along these profiles using a CMM and a robot. In the course of comparing the obtained results, it was found that the values of standard deviations from the real (highly-precise measured) surface do not exceed 600 μm. This value can be reduced by exclusion the identified problems that affect the data, the solution or leveling of which will be given in the further works of the authors. In general, it can be concluded that this method can be applied in robotic laser processing.
Nowadays the use of lasers in medicine is becoming more and more popular. To improve the quality of operations, attempts by various researchers are being made to use lasers in cooperation with robotic systems. Fiber lasers have a high potential for combining due to the fact that the fiber is quit flexible and allows to deliver laser emission to the operated tissues without significant losses. To fulfil the potential of using lasers in cooperation with robots, it is necessary to evaluate the data of the reflected optical signal. In this research the dependence of an optical reflected signal from the distance to different surfaces was evaluated. Experiments were conducted on motorized setting bench Tesa TPS 500 with wavelength 470 nm of a diode fiber laser and the range of power from 0.1 W to 1.6 W. Different materials were chosen for their reflective and mechanical properties: metal surface, plexiglas, and flexible composition based on (C12H18O9)n. The experiments showed that the dependence of the sensor data on the distance to the surface has a nonlinear form, which can be divided into three characteristic areas. The first one, from 0 to 0.2 mm, carries tip contact with the surface information and has no clearly expressed dependence. The second one, situated at the distance from the surface from 0.2 to 1 mm, has well approximated dependence. The third one, when the distance is more than 1mm from the surface, obeys the law of inverse squares. The results obtained can be used to improve robotic laser contact or noncontact cutting of soft tissues.
Access to the requested content is limited to institutions that have purchased or subscribe to SPIE eBooks.
You are receiving this notice because your organization may not have SPIE eBooks access.*
*Shibboleth/Open Athens users─please
sign in
to access your institution's subscriptions.
To obtain this item, you may purchase the complete book in print or electronic format on
SPIE.org.
INSTITUTIONAL Select your institution to access the SPIE Digital Library.
PERSONAL Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.