| A Practical Calibration Method for Spinal Surgery Robot | |
| Yinghao Ning; Peng Gao; Yu Sun; Xiaozhi Qi; Ying Hu | |
| 2017 | |
| 会议地点 | 中国香港 |
| 英文摘要 | Surgery robot for pedicle screw placement is explored based on parallel manipulator. To improve the accuracy of parallel manipulator, a practical calibration algorithm is mainly discussed. At the beginning, a novel measurement scheme for calibration is proposed. In order to construct the error model, the propagation of error is analyzed and the procedures for constructing error model are particularly developed. A new algorithm for identifications of parameters is proposed based on particle swarm method. Finally, experiment for calibration is conducted to verify the effectiveness of calibration algorithm. Experiment of pedicle screw placement with spine of pig is carried out to confirm the precision of manipulator after calibration. |
| 语种 | 英语 |
| 内容类型 | 会议论文 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/11797]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2017 |
| 推荐引用方式 GB/T 7714 | Yinghao Ning,Peng Gao,Yu Sun,et al. A Practical Calibration Method for Spinal Surgery Robot[C]. 见:. 中国香港. |
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