The visualization and real-time tracking technologies of the probe in surgical navigation system are studied. The electromagnetic positioning method is introduced, and the probe with data acquisition function is desig...
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The visualization and real-time tracking technologies of the probe in surgical navigation system are studied. The electromagnetic positioning method is introduced, and the probe with data acquisition function is designed based on electromagnetic positioning. Firstly, the probe model is constructed by means of three-dimensional solid modeling technology, and the transformation from the solid geometry model to the three-dimensional surface models is completed. Secondly, the probe tip is registered using the pivot calibration method and the registration accuracy is also tested. Then, the registration between the CT model and the patients site is realized intraoperatively by means of iterative closest point (ICP) algorithm, and simulation analysis and accuracy verification are carried out. Finally, according to the preoperatively registered position and orientation, the spatial location of the probe is tracked in real-time and accurately, and is displayed in the system. The results show that the data acquisition function and registration accuracy of the probe, as well as the effect of registration algorithms can meet the needs for surgical navigation.
Estimation of the joint angle from the surface electromyography (sEMG) is a quite complex task due to the complicated relationship between the kinematical variables and the raw sEMG. In this paper, we build a sEMG-to-...
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ISBN:
(纸本)9781467324199
Estimation of the joint angle from the surface electromyography (sEMG) is a quite complex task due to the complicated relationship between the kinematical variables and the raw sEMG. In this paper, we build a sEMG-to-motion model with the artificial neural network (ANN). EMG features, including Integral of absolute value (IAV), Zero crossing (ZC), Auto-regression coefficients (ARC), Median frequency (MDF), are extracted as the input of the ANN, and the output of the ANN is the operator's elbow joint angle and the wrist motion. In addition, a 3D upper extremity model, which is built in SolidWorks and then transformed into MATLAB, will imitate the operator's motion simultaneously with the estimations of the ANN. Thus, we accomplish a virtual reality system to realize the real-time simulation and validate the effectiveness of the sEMG-to-motion model. Experiment results show that the system achieves well in model accuracy, hardware compatibility and real time performance with a small mean square error of 1.921 degrees.
In this paper an optimal motion generation approach for a heavy duty industrial robot, including both the control scheme and algorithm, was designed and tested. Aiming for the main defects in data sampling interpolati...
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Infrared distance sensor is designed on the theory of the infrared range measurement for the application on the lunar rover. Its accuracy is mainly influenced by both the surface and ambient temperature of the measure...
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Infrared distance sensor is designed on the theory of the infrared range measurement for the application on the lunar rover. Its accuracy is mainly influenced by both the surface and ambient temperature of the measured object. In this paper, It is researched on the inflection point generated on the process of the infrared range measurement and the factors that affect the inflection point. It is verified by experiments that the main impact of the inflection point of the infrared distance sensor is the distance between the luminescent and receiving tube and power half-width of luminescent tube.
Biped robot with heterogeneous legs (BRHL) is a new kind of robotic mode consist of artificial leg (AL) used to simulate healthy lower limb and bionic leg corresponding to lower limb prosthesis worn by amputee. The bi...
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This paper presented the prosthetic humanoid operation model which is controlled by the brain. According to the humanoid operated mechanism, the brain signals detection, intelligent prosthetic control, and the man-mac...
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A point stabilization scheme of a wheeled mobile robot （WMR） which moves on uneven surface is presented by using tuzzy control. Taking the kinematics and dynamics of the vehicle into account, the fuzzy controller is...
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A point stabilization scheme of a wheeled mobile robot （WMR） which moves on uneven surface is presented by using tuzzy control. Taking the kinematics and dynamics of the vehicle into account, the fuzzy controller is employed to regulate the robot based on a kinematic nonlinear state feedback control law. Herein, the fuzzy strategy is composed of two velocity control laws which are used to adjust the speed and angular velocity, respectively. Subsequently, genetic algorithm （GA） is applied to optimize the controller parameters. Through the self-optimization, a group of optimum parameters is gotten. Simulation results are presented to show the effectiveness of the control strategy.
According to characteristics of abdominal minimally invasive robotic surgical tasks, based on performant industrial computer platform, an extended multifunctional hardware communicates with PCI-bus is designed, a mast...
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A surface electromyography (sEMG) signal model is established and extracted from noisy background. Firstly, single fiber action potential (SFAP), motor unit action potential (MUAP) and motor unit action potential trai...
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Considering the turning in place motion as an independent motion which can enhance the mobility of spherical robot, a turning in place motion control method of two pendulums driven spherical robot is studied. First, t...
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Considering the turning in place motion as an independent motion which can enhance the mobility of spherical robot, a turning in place motion control method of two pendulums driven spherical robot is studied. First, the mechanism characteristics of two pendulums driven spherical robot are introduced, and then the force condition of turning in place motion is analyzed based on D'alembert's principle and the motion principle of turning in place motion of two pendulums driven spherical robot is discussed, finally, the dynamic model of turning in place motion is constructed. The whole process of turning in place motion is divided into three stages which are startup stage, stick stage and slip stage respectively, and a stick-slip principle for turning in place motion control is proposed. The effectiveness of the control method is validated by both simulation and prototype experiment.
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