Optimization Scheme for Online Viewpoint Planning of Active Optical Navigation System in Orthopedic Surgeries

Han, Jianda; Luo, Mengde; You, Yugen; Meng, Yiyang; Qin, Yanding

doi:10.1109/tim.2023.3265632

Cited by 7 publications

(1 citation statement)

References 30 publications

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“…As robot applications expand broadly, human-robot collaboration is becoming increasingly common, especially in the field of medical applications, where human-robot interaction technology has emerged as a major research focus [1][2][3][4][5] . Laminectomy surgery is characterized by a small incision and proximity to the bone marrow of the nerves [6] , thus requiring stability and flexibility in the surgery. Laminectomy surgery requires a high level of surgical proficiency, and the surgeon is highly mentally focused during the surgery.…”

Section: Introductionmentioning

confidence: 99%

Human-robot interaction for orthopedic surgical robots based on fuzzy variable admittance control

Chen,

Zhao

2024

Third International Conference on Biomedical and Intelligent Systems (IC-BIS 2024)

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Keeping the balance of flexibility and stability is difficult in orthopedic surgery when the doctor and the robot operate together. This paper gives a fuzzy theory-based variable admittance control method to solve this question. For the fuzzy controller, the robot's traction force and current velocity are inputs, the damping parameters are the output, calculation rules are the fuzzy rules through expert experience, the fuzzy controller can get different damping parameters according to the doctor's operating intention, different damping parameters represent different desired speed of the robot. The stability of the robot is characterized by the change of acceleration at the end of the arm during the dragging process, and the flexibility of the robot is characterized by the amount of traction force exerted by the doctor on the end of the arm. A 7-DOF robotic arm experimental platform was built, and the dragging experiment was carried out. The experimental results show that the stability of the fuzzy-based variable-admittance controller is improved by 54.5% over the fixed-admittance controller for the same flexibility. Under the optimal variation range of damping parameters, the fuzzy-based variable admittance-controlled robot has a maximum speed of 0.047 m/s, a maximum traction force of 9.43 N, and a maximum trajectory deviation of 1.74 mm during human-robot collaboration. These improvements effectively enhance the speed and precision of human-robot collaboration in orthopedic surgery.

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