Geometric Calibration of a 12-Axis Robotic X-Ray System for Large Animal Diagnostic Imaging

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.