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Scene Adaptivity Analysis for the Image-Guided Surgical Robots
Alternative TitleScene Adaptivity Analysis for the Image-Guided Surgical Robots.pdf
Dong XY(董歆予)1,1,2,3; Li J( 李铁)1,2,4; Jiang GH(江国豪)1,2,3,5; Zhou YY(周圆圆)1,2,3,5; Zhang, Hua1; Liu H(刘浩)1,2,3
Department机器人学研究室
Conference Name7th IEEE International Conference on Computer Science and Network Technology, ICCSNT 2019
Conference DateOctober 19-20, 2019
Conference PlaceDalian, China
Author of SourceDalian Jiaotong University ; et al. ; IEEE ; Liaoning Province Software Industry School-Enterprise Alliance ; Ritsumeikan University ; Shenyang University of Technology
Source PublicationProceedings of IEEE 7th International Conference on Computer Science and Network Technology, ICCSNT 2019
PublisherIEEE
Publication PlaceNew York
2019
Pages525-529
Indexed ByEI
EI Accession number20200708152879
Contribution Rank1
ISBN978-1-7281-3298-3
Keywordsurgical robot scene adaptivity of robot imageguided optical tracking system
AbstractDuring the surgical procedure, repeated puncture would bring great damage to the patient and decrease the success rate of surgery. Good scene adaptivity of surgical robots could reduce the possibility of the occurrence of the problem. This paper introduces a method for increasing scene adaptivity preoperatively for image-guided surgical robots. The differential transformation method for getting the Jacobian Matrix is used to decrease the time spent preparing the surgery. The singularity classification method is used to analyzing different types of singular points to spend less time to make the robot move smooth. With the help of the tumor model, the experiment would test the final results. It indicated that, with the method proposed, the robot could smoothly move and accurately arrives at the destination.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/26280
Collection机器人学研究室
Corresponding AuthorLiu H(刘浩)
Affiliation1.Key Laboratory of Minimally Invasive Surgical Robot, Liaoning Province, Shenyang, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
3.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
4.School of Mechanical Engineering, Shenyang Ligong University, Shenyang, China
5.University of Chinese Academy of Sciences, Beijing, China
Recommended Citation
GB/T 7714
Dong XY,Li J,Jiang GH,et al. Scene Adaptivity Analysis for the Image-Guided Surgical Robots[C]//Dalian Jiaotong University, et al., IEEE, Liaoning Province Software Industry School-Enterprise Alliance, Ritsumeikan University, Shenyang University of Technology. New York:IEEE,2019:525-529.
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