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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)
Department机器人学研究室
Conference Name2016 IEEE International Conference on Mechatronics and Automation
Conference DateAugust 7-10, 2016
Conference PlaceHarbin, China
Source PublicationProceedings of 2016 IEEE International Conference on Mechatronics and Automation
PublisherIEEE Computer Society
Publication PlacePiscataway, NJ, USA
2016
Pages1107-1112
Indexed ByEI ; CPCI(ISTP)
EI Accession number20164202921977
WOS IDWOS:000387187800194
Contribution Rank1
ISBN978-1-5090-2396-7
KeywordHuman-robot Cooperation Registration Icp Intraoperative Operating Space Preoperative Planned Space
AbstractThis 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/19196
Collection机器人学研究室
Corresponding AuthorCao L(曹蕾)
Affiliation1.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
Recommended Citation
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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