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Dynamic Tracking of Minimally Invasive Spine Surgery Robot
Song GL(宋国立); Han JD(韩建达); Zhao YW(赵忆文); Chen, Chen; Yao ZX(姚忠新)
作者部门机器人学研究室
会议名称2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)
会议日期December 12-14, 2013
会议地点Shenzhen, China
会议录名称Proceeding of the IEEE International Conference on Robotics and Biomimetics (ROBIO)
出版者IEEE
出版地NEW YORK
2013
页码1462-1467
收录类别EI ; CPCI(ISTP)
EI收录号20141717632917
WOS记录号WOS:000352739000242
产权排序1
ISBN号978-1-4799-2744-9
摘要In order to exhibit the surgery instruments in intraoperative image, the tracking system must be introduced so that it may finally achieve the image guide surgery on minimally invasive spine surgery (MISS). To exhibit the tip of the instrument, the transform of the CARM(a device which generates X-ray images) and CT image, the transform of the world and CARM. The more transforms of different space happen, the more errors will be introduced into the system. This paper is focused on the surgery robot tracking problem, especially for the tracking of the position and posture of the surgery instruments. We introduce a method which could establish the robot model of the surgery and show the projection of the surgery instruments on intraoperative images which could help surgeon estimate the relative position of the surgery instrument and patient’s spine.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/13906
专题机器人学研究室
通讯作者Song GL(宋国立)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, 110016, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
3.School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China
4.School of Mechanical Engineering, Shenyang Ligong University, Shenyang, 110159, China
推荐引用方式
GB/T 7714
Song GL,Han JD,Zhao YW,et al. Dynamic Tracking of Minimally Invasive Spine Surgery Robot[C]. NEW YORK:IEEE,2013:1462-1467.
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