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Alternative TitleVelocity Field Control Method of a Minimally Invasive Spine Surgical Robot
宋国立; 韩冰; 赵忆文; 韩建达; 王争; 杜惠斌
Source Publication机器人
Indexed ByEI ; CSCD
EI Accession number20164603015738
Contribution Rank1
Funding Organization国家自然科学基金(61333019)
Keyword脊柱手术 手术机器人 轨迹规划 速度场控制
Other AbstractThe failure rate of implanting screws only by surgeon hands is high in minimally invasive spine surgery. It can be reduced significantly by adopting robots, however, the robot is restricted when completing the operation automatically because of the complexity and uncertainty of the surgical environment, as well as the safety requirements of the operation. By establishing the surgical space velocity field and designing velocity field controller, the kinematics and dynamics models of robot are developed to realize the simulation and experiment of implanting pedicle screws by the robot automatically. Compared with traditional time trajectory control, the advantages of velocity field control method in the process of implanting pedicle screw automatically are verified by the simulation test, in which the accuracy of operation trajectory is guaranteed and the damage to the nerve root is avoided under disturbance conditions. The experiment proves the feasibility of the velocity field control method.
Citation statistics
Cited Times:1[CSCD]   [CSCD Record]
Document Type期刊论文
Corresponding Author宋国立
Recommended Citation
GB/T 7714
宋国立,韩冰,赵忆文,等. 脊柱微创手术机器人速度场控制方法[J]. 机器人,2016,38(5):603-611.
APA 宋国立,韩冰,赵忆文,韩建达,王争,&杜惠斌.(2016).脊柱微创手术机器人速度场控制方法.机器人,38(5),603-611.
MLA 宋国立,et al."脊柱微创手术机器人速度场控制方法".机器人 38.5(2016):603-611.
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