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Due to the merit of stabilization and precision, robot is imported in the surgery operations of abdominal cavity, thoracic cavity etc. In order to strengthen the advantage of the minimally invasive surgical robot, the research is focused on the trajectory planning of the 6-DOF manipulator of the robot. The algorithm of the manipulator trajectory planning is proposed, and the curved track of the manipulator...
The 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. The minimally invasive surgery robot drives the ablator tool to track the tumor when the tumor moves in real time and precise orientate to the tumor. Through studying of the structure of the...
This paper discusses the extension of sample-based planning methods to the application of sensor planning for a partially unknown, moving target. This is achieved by modeling the target as a time-varying stochastic process with known mean and variance. Using the unscented transform, the target's statistics are then propagated through a user-supplied sensing effectiveness metric. The planner is demonstrated...
In this paper, we introduce a gait generation concept for rehabilitation, namely GaitGen. GaitGen aims to provide objective gait planning for rehabilitation. An established formula of normalized gait parameters has been studied via GAITRite. Thirty subjects are recruited for the GAITRite experiment. L-index is introduced to study the significance of leg length in the modified normalized gait parameters...
In this paper, we propose a gait generation concept for rehabilitation, in which GaitGen, a gait pattern generator is introduced. The concept of GaitGen will be explained. GaitGen aims to provide objective gait planning for rehabilitation. Gait-related studies have been carried out for the validation and enhancement of GaitGen. Motion capture system has been used for gait database collection. An established...
This paper introduces the planning and control software of a teleoperation system for research in minimally invasive robotic surgery. It addresses the problem of how to organize a complex system with 41 degrees of freedom as a flexible configurable platform. Robot setup planning, force feedback control and nullspace handling with three robotic arms are considered. The planning software is separated...
This paper describes a redundant robot arm that is capable of learning to reach for targets in space while avoiding obstacles in a self-organized fashion. Self-generated movement commands that activate correlated visual, spatial and motor information are used to learn forward and inverse kinematic control models while moving in obstacle free space using the direction-to-rotation transform (DIRECT)...
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