@inproceedings{144bf3dcb2fd4537b9cd2b7d3d46104b,
title = "A Design and Ealuation of Hand-held Mechatronic Laparoscopic Surgical Robot",
abstract = "This paper presents a new hand-held mechatronic laparoscopic surgical robot, which is intuitie and ergonomic as its accurate master-slae motion mapping and precise position control. The displacement transmission characteristics of cable-pulley system in laparoscope surgical robot is modelled which considers the bending rigidity of the cable. Based on the model, a position compensation algorithm of feedforward control is presented to reduce the tracking errors. To erify the effectieness and alue for real clinical application, position compensation and suturing experiments are performed. Experiments results show position tracking errors are reduced significantly. The aerage time of fie continuous suturing is about 90s and the insertion and piercing position errors are 1mm and 2mm respectiely.",
keywords = "Laparoscopic surgery, hand-held, mechatronic, surgical robot",
author = "Renfeng Xue and Zhijiang Du and Zhiyuan Yan and Bingyin Ren",
note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 International Conference on Control and Robots, ICCR 2018 ; Conference date: 15-09-2018 Through 17-09-2018",
year = "2018",
month = nov,
day = "13",
doi = "10.1109/ICCR.2018.8534497",
language = "英语",
series = "2018 International Conference on Control and Robots, ICCR 2018",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "19--24",
booktitle = "2018 International Conference on Control and Robots, ICCR 2018",
address = "美国",
}