Human-robot collaborated path planning forbevel -tip needle steering in simulated human environment
文献类型：会议论文
| 作者 | jing xiong; zeyang xia; yangzhou gan |
| 出版日期 | 2016 |
| 会议名称 | EMBC2016 |
| 会议地点 | 美国佛罗里达 |
| 英文摘要 | Clinical Application of linear percutaneous needle insertion is restricted due to issues such as limited path and deflection. Thus steering of flexible needle is critical demanded in the clinic. Previous studies tended to use autonomous methods to conduct path planning for needle steering. However, these methods had very limited adaptabilities, and they also decreased the human operator’s domination of the operation, as clinically required. In this case, teleoperation has been an option, while in complicated environments sole teleoperation is not sufficient for a human operator to generate multi-curved insertion path. Therefore, in this paper, we propose a semiautonomous human-robot collaborated path planning method for teleoperated bevel-tip needle steering. The key module of this method is a human-robot collaboration mechanism which consists of the operator input, environment constraints, and path constraints. The proposed method were tested semi-physically in a simulated human environment and the results validated that the proposed method were able to efficiently assist the operator to generate multi-curved paths under human operator’s domination. |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/10574]  |
| 专题 | 深圳先进技术研究院_医工所 |
| 作者单位 | 2016 |
| 推荐引用方式 GB/T 7714 | jing xiong,zeyang xia,yangzhou gan. Human-robot collaborated path planning forbevel -tip needle steering in simulated human environment[C]. 见:EMBC2016. 美国佛罗里达. |
入库方式： OAI收割
来源：深圳先进技术研究院
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