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| Closed-loop control of bevel-tip needles based on path planning 期刊论文 Robotica, 2018, 卷号: 36, 期号: 12, 页码: 1857-1873 Authors: Huo BY(霍本岩); Zhao XG(赵新刚) ; Han JD(韩建达) ; Xu WL(徐卫良)
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| 机器人辅助柔性针穿刺系统研究 学位论文 博士, 沈阳: 中国科学院沈阳自动化研究所, 2017 Authors: 霍本岩
Adobe PDF(10156Kb)  |   Favorite  |  View/Download:358/23  |  Submit date:2017/06/29 柔性针 机器人辅助系统 路径规划 粒子群优化方法 模型预测控制 |
| Comparison of estimation and control methods for flexible needle in 2D 会议论文 Proceedings of the 28th Chinese Control and Decision Conference, CCDC 2016, Yinchuan, China, May 28-30, 2016 Authors: Zhao XG(赵新刚) ; Guo, Hui; Ye D(叶丹); Huo BY(霍本岩)
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| Path-tracking control of bevel-tip needles using Model Predictive Control 会议论文 2016 IEEE 14th International Workshop on Advanced Motion Control, AMC 2016, Auckland, New zealand, April 22-24, 2016 Authors: Huo BY(霍本岩); Zhao XG(赵新刚) ; Han JD(韩建达) ; Xu WL(徐卫良)
Adobe PDF(590Kb)  |   Favorite  |  View/Download:189/41  |  Submit date:2016/08/23 Bevel-tip Needle Path-tracking Mpc Pso |
| Impedance control of a robot needle with a fiber optic force sensor 会议论文 2016 IEEE 13th International Conference on Signal Processing (ICSP), Chengdu, China, November 6-10, 2016 Authors: Xiao, Lifang; Yang TW(杨唐文); Huo BY(霍本岩); Zhao XG(赵新刚) ; Han JD(韩建达) ; Xu WL(徐卫良)
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| Driving flexible needles in 3D tissue without obstacles 会议论文 6th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2016, Chengdu, China, June 19-22, 2016 Authors: Huo BY(霍本岩); Zhao XG(赵新刚) ; Han JD(韩建达) ; Xu WL(徐卫良)
Adobe PDF(2092Kb)  |   Favorite  |  View/Download:170/24  |  Submit date:2016/11/06 Flexible Needle Driving Method Ukf Position Feedback Control |
| Shape Reconstruction and Attitude Estimation of Bevel-Tip Needle via CT-Guidance 会议论文 Proceedings of the 2015 IEEE International Conference on Robotics and Biomimetics, Zhuhai, China, December 6-9, 2015 Authors: Huo BY(霍本岩); Zhao XG(赵新刚) ; Han JD(韩建达) ; Xu WL(徐卫良)
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| 基于多目标粒子群优化算法的斜尖柔性针穿刺路径规划 期刊论文 机器人, 2015, 卷号: 37, 期号: 4, 页码: 385-394 Authors: 霍本岩; 赵新刚 ; 韩建达 ; 徐卫良
Adobe PDF(893Kb)  |   Favorite  |  View/Download:364/78  |  Submit date:2015/10/08 穿刺术 柔性针 路径规划 粒子群优化算法 |
| 一种机器人辅助斜尖柔性针穿刺系统及方法 专利 专利类型: 发明授权, 专利号: CN104248471B, 公开日期: 2014-12-31, 授权日期: 2016-09-07 Inventors: 韩建达 ; 赵新刚 ; 霍本岩
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| 一种机器人辅助斜尖柔性针穿刺系统及方法 专利 专利类型: 发明, 专利号: CN104248471A, 公开日期: 2014-12-31, 授权日期: 2016-09-07 Inventors: 韩建达 ; 赵新刚 ; 霍本岩
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