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Novel Parallelogram Set-Membership Estimation Dynamic Navigation Method for Osteotomy Surgical Robot
Qu, Danyang1,2,3; Zhang, He4; Song GL(宋国立)1,2,5,6; Zhao YW(赵忆文)1,2; Zhao XG(赵新刚)1,2; Han JD(韩建达)1,7; Luo, Yang1,2; Bao, Min8
Department机器人学研究室
Source PublicationIEEE ACCESS
ISSN2169-3536
2019
Volume7Pages:104143-104154
Indexed BySCI
WOS IDWOS:000481692400039
Contribution Rank1
KeywordState estimation medical robotics estimation error
AbstractIn this paper, a parallelogram set-membership estimation (PSME) algorithm is proposed to perform osteotomy trajectory estimation in two dimension plane with high accuracy to achieve high-precision osteotomy by an orthopedic surgery robot and meet the safety requirements of the osteotomy. First, to realize the tight envelope of the estimated set on the osteotomy trajectory, a parallelogram envelopment expression is proposed that describes the state set and the observation set. Second, a minimum-area parallelogram envelope method is applied to quickly converge the osteotomy trajectory estimation set to a reliable range. Moreover, the unknown but bounded noise model solves the robustness problem of the algorithm under non-Gaussian conditions, and realizes the accurate estimation of the osteotomy trajectory in any noise environment. Finally, the simulated and experimental results demonstrate that the estimation accuracy and anti-noise performance of the PSME algorithm are better than other estimation algorithms. In the osteotomy experiment, the average osteotomy error is less than 1 mm, which meets the safety requirements of the osteotomy. Furthermore, PSME holds great potential in other estimation problems.
Language英语
WOS SubjectComputer Science, Information Systems ; Engineering, Electrical & Electronic ; Telecommunications
WOS KeywordLOCALIZATION
WOS Research AreaComputer Science ; Engineering ; Telecommunications
Funding ProjectSpecial Fund for High-level Talents ; National Key Research and Development Program of China[2017YFB1303000] ; National Natural Science Foundation of China[61703394] ; National Natural Science Foundation of China[61703394] ; National Key Research and Development Program of China[2017YFB1303000] ; Special Fund for High-level Talents
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/25482
Collection机器人学研究室
Corresponding AuthorBao, Min
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
3.University of Chinese Academy of Sciences, Beijing 100049, China
4.Department of Orthopedics, Xinqiao Hospital, Army Medical University, Chongqing 400037, China
5.Department of Orthopaedics, Affiliated Traditional Chinese Medicine Hospital, Southwest Medical University, Luzhou 646000, China
6.Liaoning Medical Surgery and Rehabilitation Robot Engineering Research Center, Shenyang 110134, China
7.College of Computer and Control Engineering, Nankai University, Tianjin 300071, China
8.Department of Neurosurgery, Shengjing Hospital, China Medical University, Shenyang 110004, China
Recommended Citation
GB/T 7714
Qu, Danyang,Zhang, He,Song GL,et al. Novel Parallelogram Set-Membership Estimation Dynamic Navigation Method for Osteotomy Surgical Robot[J]. IEEE ACCESS,2019,7:104143-104154.
APA Qu, Danyang.,Zhang, He.,Song GL.,Zhao YW.,Zhao XG.,...&Bao, Min.(2019).Novel Parallelogram Set-Membership Estimation Dynamic Navigation Method for Osteotomy Surgical Robot.IEEE ACCESS,7,104143-104154.
MLA Qu, Danyang,et al."Novel Parallelogram Set-Membership Estimation Dynamic Navigation Method for Osteotomy Surgical Robot".IEEE ACCESS 7(2019):104143-104154.
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