Kinematics Analysis and Motion Control of Radio Frequency Ablation Surgical Robot
作者： Qinjun Du , Xueyi Zhang
DOI: 10.1109/ICCA.2007.4376690
关键词: Engineering 、 Degrees of freedom (mechanics) 、 Robot kinematics 、 Motion control 、 Kinematics 、 Simulation 、 Inverse kinematics 、 Robot 、 Trajectory 、 Control system
摘要: Minimally invasive surgery robot of five degrees freedom has been developed for assisting surgeons to realize high quality and precise operation in Radio frequency ablation patients with liver tumors. The minimally drives the ablator tool track tumor when moves real time orientate tumor. Through studying structure mechanism, kinematics modeling framework is set up. algorithm motion control deduced through analysis direct inverse kinematics. system designed according requirements safety surgeons. experiments results have shown that trajectory generation program meet surgical robot.
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