Control of the coupled motion of a 6 DoF robotic arm and a continuum manipulator for the treatment of pelvis osteolysis.
Control of the coupled motion of a 6 DoF robotic arm and a continuum manipulator for the treatment of pelvis osteolysis.
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DOI：
10.1109/embc.2014.6945122
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发表时间：
2014
期刊：
影响因子：
--
通讯作者：
Armand M
中科院分区：
文献类型：
--
作者：
Alambeigi F;Murphy RJ;Basafa E;Taylor RH;Armand M
本文探讨了一个6自由度机器人与一种蛇形灵巧机械手（SDM）的耦合运动，该机械手是为全髋关节置换翻修手术中治疗植入物后方的骨缺损而设计的。我们已将此问题表述为一个加权的多目标约束线性优化问题。一个运动远程中心（RCM）作为机器人的一个虚拟约束。耦合机器人运动学并不假定SDM具有分段常曲率。我们通过在一个潜在病变区域内模拟耦合系统对我们的方法进行了评估。
The paper addresses the coupled motion of a 6 degree of freedom robot and a snake-like dexterous manipulator (SDM) designed for the treatment of bone defects behind the implant during total hip arthroplasty revision surgery. We have formulated the problem as a weighted, multi-objective constraint, linear optimization. A remote center of motion (RCM) acts as a virtual constraint for the robot. The coupled robot kinematics does not assume piecewise-constant curvature for the SDM. We have evaluated our method by simulating the coupled system inside a potential lesion area.