Research on displacement compensation algorithm of tactile sensor on the beating heart

摘要：

In robot-assisted surgery system, the method of compensating the relative motion between the surgical site on the heart and the surgical instruments was introduced by using tactile sensor in this paper. Three-dimensional space coordinate systems were established, including the world coordinate system, surgical instruments and tactile sensor coordinate system. Space coordinate was transformed between the three coordinate systems through the way of mathematical theory. Compensation algorithm theory formulas about the beating heart were derived, including the rotation matrixes of the coordinate system, the equations, etc. According the data of the tactile sensor, the relative displacement of the surgical instruments coordinate system was calculated compared with the world coordinate system. Finally, Conclusion is obtained by compensation example analysis.

关键词： tactile sensor world coordinate system surgical instruments coordinate system tactile sensor coordinate system rotation matrix compensation algorithm

作者: YANG Shengyi GU An LI Meng LU Changjian

作者单位: College of Mechanical & Electrical Engineering, Nanjing University of Aeronautics and Astronautics,Nanjing 210016, China

会议类型: 国际会议

会议名称: 2011 International Conference on Mechatronics and Applied Mechanics(2011年机电一体化与应用力学国际会议 ICMAM 2011)

会议地点: 香港

会议语种:英文

页码: 762-767

在线出版日期: 2011-12-27（万方平台首次上网日期，不代表论文的发表时间）