SIA OpenIR  > 机器人学研究室
Minimally invasive spinal surgical robot velocity control method
Song GL(宋国立); Zhao YW(赵忆文); Han JD(韩建达); Wang Z(王争); Du HB(杜惠斌)
Department机器人学研究室
Conference Name2016 2nd International Conference on Control Science and Systems Engineering (ICCSSE)
Conference DateJuly 27-29, 2016
Conference PlaceSingapore
Source PublicationPROCEEDINGS OF 2016 2ND INTERNATIONAL CONFERENCE ON CONTROL SCIENCE AND SYSTEMS ENGINEERING (ICCSSE)
PublisherIEEE
Publication PlaceNew York
2016
Pages227-231
Indexed ByEI ; CPCI(ISTP)
EI Accession number20170503309047
WOS IDWOS:000391313300048
Contribution Rank1
ISBN978-1-4673-9872-5
KeywordSpine Surgery Pedicle Screw Implantation Surgical Robot Velocity Field Contro
AbstractVertebral pedicle screw placement is an important part of spine surgery, surgreons hand screw placement turnover rate was higher. With the development of surgical robot and the robot navigation technology, robot surgery applied in surgery became reality. Currently, the main purpose of surgical robot is assisting the doctor to establish trajectory of pedicle screw. These could not exert the high performance of robot on precision and speedy. Compared to conventional industrial robots, the complexity and uncertainty in the surgical environment and security needs of surgery will restrict the robot to complete the operation automatically. This paper establishes velocity field in operative space, completed the simulation and experimental of surgical robot automatic inserting pedicle screw. The simulation results show the velocity field of the control algorithm advantages of minimally invasive spine surgery procedure that can guarantee the integrity of the contour under disturbance conditions and to avoid damage to the nerve root.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/19544
Collection机器人学研究室
Corresponding AuthorSong GL(宋国立)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
3.Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, China
Recommended Citation
GB/T 7714
Song GL,Zhao YW,Han JD,et al. Minimally invasive spinal surgical robot velocity control method[C]. New York:IEEE,2016:227-231.
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