Motion Planning for the Intervention Therapy Robot System

摘要：

The minimally invasive surgery robot of five degrees of freedom has been developed for assisting surgeons to realize high quality and precise operation in Radio frequency ablation for patients with liver tumors. The minimally invasive surgery robot drives the ablator tool to track the tumor when the tumor moves in real time and precise orientate to the tumor. Through studying of the structure of the robot mechanism, the kinematics model of the framework is set up. By kinematics modeling and analysis, the quintic polynomial interpolation is adopted in trajectory planning for the robot locomotion control. The simulation results show that it can guarantee the continuous of joints position, velocity and acceleration, the robot movement smooth is essential to the doctor, patient and robot itself, which contribute to improve the safety of the people and stability of the robot.

关键词： medical robot kinematics analysis motion planning intervention therapy

作者: Qinjun Du Xueyi Zhang

作者单位: School of Electrical and Electronic Engineering Shandong University of Technology Shandong Zibo Chin Traffic and Vehicle Engineering School Shandong University of Technology Shandong Zibo China

会议类型: 国际会议

会议名称: The 2nd IEEE International Conference on Advanced Computer Control(第二届先进计算机控制国际会议 ICACC 2010)

会议地点: 沈阳

会议语种:英文

页码: 606-610

在线出版日期: 2010-03-27（万方平台首次上网日期，不代表论文的发表时间）