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Alternative TitleDesign of Master-Slave Operation Robot Based on Impedance Control in Minimally Invasive Spinal Surgery
路明; 赵忆文; 姜运祥
Source Publication机器人
Indexed ByEI ; CSCD
EI Accession number20172803928445
Contribution Rank1
Funding Organization国家自然科学基金(61333019)
Keyword脊柱微创手术 力反馈 阻抗控制 主从式手术机器人
Other AbstractAiming at the robot systems for minimally invasive spine surgery (MTSS), an impedance control strategy suitable for double systems is put forward, and related analysis and experimental research are carried out. Firstly, the relationship between the end-effector and the joint angle is obtained through kinematics calculation. Then, conversion formula between the force and the position is deduced based on the impedance relationship model. Finally, the actual angle of each joint is calculated through position control. This paper solves the coordination control problems of force and position, improves the accuracy of force and position control in MTSS robots, ensures the position and force consistency between the master and slave robots, and makes the master robot reproduce states of the slave robot accurately. At the operation level, the proposed system can save the doctor from long-term heavy operation and improve the operation accuracy and final effect of MTSS.
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Document Type期刊论文
Corresponding Author路明
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GB/T 7714
路明,赵忆文,姜运祥. 脊柱微创主从式手术机器人阻抗控制系统研制[J]. 机器人,2017,39(3):371-376.
APA 路明,赵忆文,&姜运祥.(2017).脊柱微创主从式手术机器人阻抗控制系统研制.机器人,39(3),371-376.
MLA 路明,et al."脊柱微创主从式手术机器人阻抗控制系统研制".机器人 39.3(2017):371-376.
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