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Design of Master-Slave Operation Robot Based on Impedance Control in Minimally Invasive Spinal Surgery
Authors
姜运祥
赵忆文
路明
Publication date
1 January 2017
Publisher
Abstract
针对面向脊柱微创手术的机器人系统,提出了适用于双系统的阻抗控制策略,开展了相关的理论分析和实验验证研究.首先通过运动学计算得出末端执行器到关节角的关系,然后通过阻抗关系模型推导得出力与位置之间的转化公式,最后通过位置控制计算每个关节角的实际位置.本文解决了力和位置控制难以协调这一关键问题,提高了脊柱微创手术机器人力和位置控制的精确性,保证了主手和从手之间位置和力的一致性,使得从手的状态在主手得以精准复现.在手术层面上,系统将医生从长期的繁重操作中解救出来,提升了脊柱微创手术的操作精度和最终效果
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Shenyang Institute of Automation,Chinese Academy Of Sciences
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oai:ir.sia.cn/:173321/20778
Last time updated on 12/02/2018
Institutional Repository of Institute of Automation, CAS
See this paper in CORE
Go to the repository landing page
Download from data provider
oai:ir.sia.cn/:173321/20778
Last time updated on 12/08/2017