TY - GEN
T1 - Spinal physiological motion simulator and compensation method for a robotic spinal surgical system
AU - Li, Bing
AU - Jin, Haiyang
AU - Fang, Min
AU - Hu, Ying
AU - Zhang, Peng
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/4/20
Y1 - 2014/4/20
N2 - During spinal surgery, spinal physiological motion (SPM) due to respiration can interfere with the operation. The patient is anesthetized and breathes passively with the aid of a respirator, causing periodic SPM. In this paper, a respiratory model based on the respirator flow waves is proposed; and a spinal physiological motion simulator (SPMS), which is based on a 3-RPS parallel mechanism, is developed for simulating the SPM due to the respiratory model. For compensating the SPM, a compensation algorithm based on weighted frequency linear combiner (WFLC), which can adapt to variation in the frequency and amplitude of a quasi-periodic signal, is used for a robotic surgical system in this paper. And finally, two experiments were carried out, one is to analyze the SPMS error and the other is to validate SPM compensation using the compensation algorithm.
AB - During spinal surgery, spinal physiological motion (SPM) due to respiration can interfere with the operation. The patient is anesthetized and breathes passively with the aid of a respirator, causing periodic SPM. In this paper, a respiratory model based on the respirator flow waves is proposed; and a spinal physiological motion simulator (SPMS), which is based on a 3-RPS parallel mechanism, is developed for simulating the SPM due to the respiratory model. For compensating the SPM, a compensation algorithm based on weighted frequency linear combiner (WFLC), which can adapt to variation in the frequency and amplitude of a quasi-periodic signal, is used for a robotic surgical system in this paper. And finally, two experiments were carried out, one is to analyze the SPMS error and the other is to validate SPM compensation using the compensation algorithm.
KW - 3-PRS
KW - WFLC
KW - motion compensation
KW - physiological motion
KW - surgical robot
UR - https://www.scopus.com/pages/publications/84983103068
U2 - 10.1109/ROBIO.2014.7090335
DO - 10.1109/ROBIO.2014.7090335
M3 - 会议稿件
AN - SCOPUS:84983103068
T3 - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
SP - 229
EP - 234
BT - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Biomimetics, ROBIO 2014
Y2 - 5 December 2014 through 10 December 2014
ER -