A MRI-Guided Robot for Neurosurgery:Design and Control Hong Zaidi and Yun Chao robotics Institutc Bcihang University Bcijing,china
In this paper the design of a novel ultrasonic motor (USM)actuated robot system and a new control method for automatically open-MRI-guided intervention for neurosurgery are presented .The targeted clinical applications of the proposed robot are based on invasive surgical procedures,such as biopsy and brachytherapy.A robot,comprosed of a Delta mechanism and a two-link serial manipulator,was desinged to align and orientate the meedles and was ecplained in detail.To automatically and accurately undertake the alignment and orientation of the needles throughout the meurosurgical procedures,a mew control strategy combing the performance of fuzzy controller and PD controller is then proposes.The simulation results have shown that the proposed control system has perfect performances.A dynamic simulation and control is co-performed with ADAMSTM and MatlabTM packages.759-764
Zhao Lei
Harvard Medical School,Brigham and Womens Hospital and XinAoMDT Technology Co.,Ltd.Boston,USA and Langfang,Hebei,China
国际会议
2008 IEEE International Conference on Onformation and Automation(IEEE 信息与自动化国际会议)
张家界
英文
759-764
2008-06-20（万方平台首次上网日期，不代表论文的发表时间）