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	Closed loop positioning for high precision neurosurgery robot
	Chen Guodong ; Jia Peifa ; Liu Yan
	2010-05-06 ; 2010-05-06
关键词	Practical/ closed loop systems end effectors medical robotics neurophysiology optical tracking position control surgery/ closed loop positioning neurosurgery robot visual servo architecture high precision optical tracking device robot end-effector positioning control dynamic pose feedback compensation path tracking/ A8770G Patient care and treatment A8730 Biophysics of neurophysiological processes B7520 Patient care and treatment C3385 Biological and medical control systems C3390M Manipulators C3120C Spatial variables control
中文摘要	A visual servo architecture with closed loop control was developed for neurosurgical robot systems to provide high positioning accuracy for delicate surgical operations. The system uses a high precision optical tracking device with the robotic system to provide feedback on the position and orientation of the robot end-effector in real time. Visual closed loop control is accomplished by integrating the joint positioning control with dynamic pose feedback compensation. Simulations show that the method effectively eliminates the affects of parameter variations and corrects for positioning and tracking errors, thus noticeably improving the path tracking accuracy and system robustness. The absolute positioning accuracy is +/-1 mm with enabled satisfactory implementation of the system.
语种	中文 ; 中文
出版者	Tsinghua Univ. Press ; China
内容类型	期刊论文
源URL	[http://hdl.handle.net/123456789/9974]
专题	清华大学
推荐引用方式 GB/T 7714	Chen Guodong,Jia Peifa,Liu Yan. Closed loop positioning for high precision neurosurgery robot[J],2010, 2010.
APA	Chen Guodong,Jia Peifa,&Liu Yan.(2010).Closed loop positioning for high precision neurosurgery robot..
MLA	Chen Guodong,et al."Closed loop positioning for high precision neurosurgery robot".(2010).

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