Control of the Coupled Motion of a 6 DoF Robotic Arm and a Continuum Manipulator for the Treatment of Pelvis Osteolysis

被引：0

作者：

Alambeigi, Farshid ^{[1
]}

Murphy, Ryan J. ^{[1
]}

Basafa, Ehsan ^{[1
]}

Taylor, Russell H.

Armand, Mehran ^{[1
]}

机构：

[1] Johns Hopkins Univ, Dept Mech Engn, Baltimore, MD 21218 USA

来源：

2014 36TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC) | 2014年

关键词：

D O I：

暂无

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

The paper addresses the coupled motion of a 6 degree of freedom robot and a snake-like dexterous manipulator (SDM) designed for the treatment of bone defects behind the implant during total hip arthroplasty revision surgery. We have formulated the problem as a weighted, multi-objective constraint, linear optimization. A remote center of motion (RCM) acts as a virtual constraint for the robot. The coupled robot kinematics does not assume piecewise-constant curvature for the SDM. We have evaluated our method by simulating the coupled system inside a potential lesion area.

引用

页码：6521 / 6525

页数：5

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