简易单臂微创手术机器人的设计

2019 12th International Conference on Developments in eSystems Engineering (DeSE) Pub Date : 2019-10-01 DOI:10.1109/DeSE.2019.00097

Artur Sagitov, Liliya Gavrilova, T. Tsoy, Hongbing Li

{"title":"简易单臂微创手术机器人的设计","authors":"Artur Sagitov, Liliya Gavrilova, T. Tsoy, Hongbing Li","doi":"10.1109/DeSE.2019.00097","DOIUrl":null,"url":null,"abstract":"This paper presents a robotic surgical system model that has a robot arm holding an instrument. Designed for performing a minimally invasive surgical procedure, control system for ROS framework is controlling movement of the arm and its instrument. The control system enhances control using joint observers that estimate joint position, velocity and acceleration of executed joint position commands with torque feedback.","PeriodicalId":6632,"journal":{"name":"2019 12th International Conference on Developments in eSystems Engineering (DeSE)","volume":"20 1","pages":"500-503"},"PeriodicalIF":0.0000,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Design of Simple One-Arm Surgical Robot for Minimally Invasive Surgery\",\"authors\":\"Artur Sagitov, Liliya Gavrilova, T. Tsoy, Hongbing Li\",\"doi\":\"10.1109/DeSE.2019.00097\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents a robotic surgical system model that has a robot arm holding an instrument. Designed for performing a minimally invasive surgical procedure, control system for ROS framework is controlling movement of the arm and its instrument. The control system enhances control using joint observers that estimate joint position, velocity and acceleration of executed joint position commands with torque feedback.\",\"PeriodicalId\":6632,\"journal\":{\"name\":\"2019 12th International Conference on Developments in eSystems Engineering (DeSE)\",\"volume\":\"20 1\",\"pages\":\"500-503\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-10-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2019 12th International Conference on Developments in eSystems Engineering (DeSE)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/DeSE.2019.00097\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 12th International Conference on Developments in eSystems Engineering (DeSE)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/DeSE.2019.00097","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 3

摘要

本文提出了一种机器人手术系统模型，该模型具有机械臂手持器械。ROS框架控制系统是为进行微创外科手术而设计的，用于控制手臂及其器械的运动。控制系统利用关节观测器对关节位置、速度和执行的关节位置命令的加速度进行估计，并通过扭矩反馈来增强控制。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文

微信好友朋友圈 QQ好友复制链接

本刊更多论文

Design of Simple One-Arm Surgical Robot for Minimally Invasive Surgery

This paper presents a robotic surgical system model that has a robot arm holding an instrument. Designed for performing a minimally invasive surgical procedure, control system for ROS framework is controlling movement of the arm and its instrument. The control system enhances control using joint observers that estimate joint position, velocity and acceleration of executed joint position commands with torque feedback.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2019 12th International Conference on Developments in eSystems Engineering (DeSE)

自引率

0.00%

发文量