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Modelling and Experiment Based on a Navigation System for a Cranio-Maxillofacial Surgical Robot
المؤلفون المشاركون
Wang, Yonggui
Duan, Xingguang
Gao, Liang
Li, Jianxi
Li, Haoyuan
Guo, Yanjun
المصدر
Journal of Healthcare Engineering
العدد
المجلد 2018، العدد 2018 (31 ديسمبر/كانون الأول 2018)، ص ص. 1-14، 14ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2018-01-10
دولة النشر
مصر
عدد الصفحات
14
التخصصات الرئيسية
الملخص EN
In view of the characteristics of high risk and high accuracy in cranio-maxillofacial surgery, we present a novel surgical robot system that can be used in a variety of surgeries.
The surgical robot system can assist surgeons in completing biopsy of skull base lesions, radiofrequency thermocoagulation of the trigeminal ganglion, and radioactive particle implantation of skull base malignant tumors.
This paper focuses on modelling and experimental analyses of the robot system based on navigation technology.
Firstly, the transformation relationship between the subsystems is realized based on the quaternion and the iterative closest point registration algorithm.
The hand-eye coordination model based on optical navigation is established to control the end effector of the robot moving to the target position along the planning path.
The closed-loop control method, “kinematics + optics” hybrid motion control method, is presented to improve the positioning accuracy of the system.
Secondly, the accuracy of the system model was tested by model experiments.
And the feasibility of the closed-loop control method was verified by comparing the positioning accuracy before and after the application of the method.
Finally, the skull model experiments were performed to evaluate the function of the surgical robot system.
The results validate its feasibility and are consistent with the preoperative surgical planning.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Duan, Xingguang& Gao, Liang& Wang, Yonggui& Li, Jianxi& Li, Haoyuan& Guo, Yanjun. 2018. Modelling and Experiment Based on a Navigation System for a Cranio-Maxillofacial Surgical Robot. Journal of Healthcare Engineering،Vol. 2018, no. 2018, pp.1-14.
https://search.emarefa.net/detail/BIM-1187292
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Duan, Xingguang…[et al.]. Modelling and Experiment Based on a Navigation System for a Cranio-Maxillofacial Surgical Robot. Journal of Healthcare Engineering No. 2018 (2018), pp.1-14.
https://search.emarefa.net/detail/BIM-1187292
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Duan, Xingguang& Gao, Liang& Wang, Yonggui& Li, Jianxi& Li, Haoyuan& Guo, Yanjun. Modelling and Experiment Based on a Navigation System for a Cranio-Maxillofacial Surgical Robot. Journal of Healthcare Engineering. 2018. Vol. 2018, no. 2018, pp.1-14.
https://search.emarefa.net/detail/BIM-1187292
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1187292
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
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تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر
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