DocumentCode :
2524848
Title :
The Location Error Analysis and Compensation for Needle Driven Robot
Author :
Du, Qinjun
Author_Institution :
Sch. of Electr. & Electron. Eng., Shandong Univ. of Technol., Zibo, China
fYear :
2009
fDate :
11-13 June 2009
Firstpage :
1
Lastpage :
4
Abstract :
Minimally invasive operations are becoming increasingly popular due to the reduction in trauma to the patient, shorter recovery times, and lower overall costs. In this paper, a 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. In the minimally invasive interventions, we need precise place the ablative tool based upon the five degree of freedom robot, the location precision is an important factor in the operation. The location precision is usually limited by the precision of manufacturing, assembly, calibration and mathematical models; therefore, analysis the location error of the medical robot and to compensate the error is an important technique for the assisted robot to reach higher location precision.
Keywords :
cancer; error analysis; error compensation; liver; manipulators; medical robotics; surgery; tumours; error compensation; liver tumor; location error analysis; medical robot manipulator kinamatics; minimally invasive surgery robot; needle driven robot; radio frequency ablation; Costs; Error analysis; Liver neoplasms; Medical robotics; Minimally invasive surgery; Needles; Radio frequency; Robotic assembly; Robots; Virtual manufacturing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Bioinformatics and Biomedical Engineering , 2009. ICBBE 2009. 3rd International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4244-2901-1
Electronic_ISBN :
978-1-4244-2902-8
Type :
conf
DOI :
10.1109/ICBBE.2009.5163629
Filename :
5163629
Link To Document :
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