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An image registration method for surgical robots based on human-robot cooperation
Cao L(曹蕾); Liu H(刘浩); Zhou YY(周圆圆); Han JD(韩建达)
作者部门机器人学研究室
会议名称2016 IEEE International Conference on Mechatronics and Automation
会议日期August 7-10, 2016
会议地点Harbin, China
会议录名称Proceedings of 2016 IEEE International Conference on Mechatronics and Automation
出版者IEEE Computer Society
出版地Piscataway, NJ, USA
2016
页码1107-1112
收录类别EI ; CPCI(ISTP)
EI收录号20164202921977
WOS记录号WOS:000387187800194
产权排序1
ISBN号978-1-5090-2396-7
关键词Human-robot Cooperation Registration Icp Intraoperative Operating Space Preoperative Planned Space
摘要This paper introduces an image registration method for surgical robots. Force/torque transducer is fixed onto the robot and the surficial feature of the intraoperative operating space could be obtained with human-robot cooperation way. The ICP registration algorithm is used to calculate the transform matrix between the intraoperative operating space and the preoperative planned space. Experiments were carried out on a 3D printed bone and the performance was evaluated.
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/173321/19196
专题机器人学研究室
通讯作者Cao L(曹蕾)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation Chinese Academy of Sciences, Shenyang, Liaoning Province, China
2.University of the Chinese Academy of Sciences, Beijing, China
推荐引用方式
GB/T 7714
Cao L,Liu H,Zhou YY,et al. An image registration method for surgical robots based on human-robot cooperation[C]. Piscataway, NJ, USA:IEEE Computer Society,2016:1107-1112.
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