A combined approach for master-slave robotic surgery system control based on Jacobian and PD algorithm
文献类型：会议论文
| 作者 | Zhonglin Zhang; Jing Xiong; Yangzhou Gan; Dongwen Zhang; Zeyang Xia |
| 出版日期 | 2014 |
| 会议名称 | 2014 4th IEEE International Conference on Information Science and Technology, ICIST 2014 |
| 会议地点 | Shenzhen, China |
| 英文摘要 | In this paper, a semi-physical simulation platform of robot teleoperation system is designed, and a combined control approach using Jacobian matrix and Proportional-Derivative (PD) algorithm is proposed. A digital low-pass filter is designed to eliminate noise signal caused by hand-vibration of surgeons. The advantages of the proposed approach include easy implementation, real-time response and accurate master-slave tracking. The results of semi-physical simulation validated that the proposed approach realized accurate master-slave tracking for puncture surgery and the noise caused by hand-vibration was eliminated effectively. |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/5615]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2014 |
| 推荐引用方式 GB/T 7714 | Zhonglin Zhang,Jing Xiong,Yangzhou Gan,et al. A combined approach for master-slave robotic surgery system control based on Jacobian and PD algorithm[C]. 见:2014 4th IEEE International Conference on Information Science and Technology, ICIST 2014. Shenzhen, China. |
入库方式： OAI收割
来源：深圳先进技术研究院
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