Orthopedic Surgery Robotic System

摘要：

Recent research in orthopedic surgeries indicates that computer-assisted robotic systems can improve the precision and accuracy of the surgery which in turn leads to better long-term outcomes. Kinematic and dynamic analysis of an orthopedic robot called OrthoRoby, which will be used in bone cutting operations, are derived. Computed-torque and disturbance based observer low-level control methods have been evaluated for OrthoRoby to track a desired bone cutting trajectory. Low-level controllers are evaluated and the results are presented to demonstrate the feasibility of the controllers.

作者: Duygun Erol Barkana

作者单位: Electrical and Electronics Engineering Department,Yeditepe University,Kayisdagi,Istanbul,Turkey

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 1947-1952

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）