Guidance and Motion Control of Three-Degree-of-Freedom Manipulator Driven by a Tilting Collimator Scintillation

none7In our previous publications we have already discussed a possible use of a computer-guided manipulator for biomedical applications based on our patented method to determining the camera-to-object distance using the so-called tilting collima- tor (TC) technique. Tests about the accuracy of the object localization and the TC camera spatial resolution have already been conducted. A manipulator for simple mechani- cal operations has already been constructed in the Laboratory for Radiopharmaceuticals and Biomolecular Imaging (LRBI) of the LNL. It is coupled to a TC scintillation camera and it has been designed as a three-segmented arm consisting of three mutually perpendicular linear actuators. The system thus ensures three degrees of freedom motion of the manipulator pointer in a volume of 10x10x10cm 3 in the imaged object ? eld (under the camera). In this article we present the methods for guidance and motion control of the manipulator coupled with the TC scintillation camera.Editors: Paola Spolaore (chief), Anna DEste, Juan Esposito, Gianluigi Maggioni, Davide Moro, Rosetta Silvestri. LNL Annual Report 2008, 40 Years 1968-2008, Limited edition. All rights reserved. ISSN 1828-8545.openN.M. Uzunov; M. Bello; G. Moschini; G. Baldazzi; D. Bollini; R. Pani; U. MazziN.M. Uzunov; M. Bello; G. Moschini; G. Baldazzi; D. Bollini; R. Pani; U. Mazz