Minimally invasive spinal surgical robot velocity control method
文献类型：会议论文
| 作者 | Song GL(宋国立) ; Zhao YW(赵忆文); Han JD(韩建达); Wang Z(王争); Du HB(杜惠斌)
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| 出版日期 | 2016 |
| 会议名称 | 2016 2nd International Conference on Control Science and Systems Engineering (ICCSSE) |
| 会议日期 | July 27-29, 2016 |
| 会议地点 | Singapore |
| 关键词 | spine surgery pedicle screw implantation surgical robot velocity field contro |
| 页码 | 227-231 |
| 通讯作者 | 宋国立 |
| 中文摘要 | Vertebral pedicle screw placement is an important part of spine surgery, surgreons hand screw placement turnover rate was higher. With the development of surgical robot and the robot navigation technology, robot surgery applied in surgery became reality. Currently, the main purpose of surgical robot is assisting the doctor to establish trajectory of pedicle screw. These could not exert the high performance of robot on precision and speedy. Compared to conventional industrial robots, the complexity and uncertainty in the surgical environment and security needs of surgery will restrict the robot to complete the operation automatically. This paper establishes velocity field in operative space, completed the simulation and experimental of surgical robot automatic inserting pedicle screw. The simulation results show the velocity field of the control algorithm advantages of minimally invasive spine surgery procedure that can guarantee the integrity of the contour under disturbance conditions and to avoid damage to the nerve root. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | PROCEEDINGS OF 2016 2ND INTERNATIONAL CONFERENCE ON CONTROL SCIENCE AND SYSTEMS ENGINEERING (ICCSSE)
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| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-4673-9872-5 |
| WOS记录号 | WOS:000391313300048 |
| 源URL | [http://ir.sia.cn/handle/173321/19544]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Song GL,Zhao YW,Han JD,et al. Minimally invasive spinal surgical robot velocity control method[C]. 见:2016 2nd International Conference on Control Science and Systems Engineering (ICCSSE). Singapore. July 27-29, 2016. |
入库方式： OAI收割
来源：沈阳自动化研究所
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