Pose Tracking Algorithm of an Endoscopic Surgery Robot Wrist

摘要：

In recent two decades, more and more research on the endoscopic surgery has been carried out 2. Most of the work focuses on the development of the robot in the field of robotics and the navigation of the surgery tools based on computer graphics. But the tracking and locating of the EndoWrist is also a very important aspect. This paper deals with the the tracking algorithm of the EndoWrists pose (position and orientation). The linear tracking of the position is handled by the Kalman Filter. The quaternion-based nonlinear orientation tracking is implemented with the Extended Kalman Filter. The most innovative point of this paper is the parameterization of the motion model of the Extended Kalman Filter.

作者: L Wang H L Yin Q Meng

作者单位: Chinese-German Institute of Automatic Control Engineering, Tongji University Shanghai University of Electric Power, China

会议类型: 国际会议

会议名称: 第四届仪器科学与技术国际会议( 4th International Symposium on Instrumentation and Science and Tcchnology)

会议地点: 哈尔滨

会议语种:英文

页码: 511-515

在线出版日期: 2006-08-08（万方平台首次上网日期，不代表论文的发表时间）