经会阴前列腺活检医用并联机器人控制系统

2017 21st International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2017-10-01 DOI:10.1109/ICSTCC.2017.8107035

P. Tucan, C. Vaida, B. Gherman, F. Craciun, N. Plitea, I. Birlescu, D. Jucan, D. Pisla

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引用次数: 2

摘要

本文介绍了用于前列腺经会阴活检的并联机器人闭环控制系统的验证。提出了机器人结构及其运动学参数，并将其实现到控制模块中，并在虚拟建模环境中进行了验证。实验模型使用先前定义的医疗程序运动模式和一系列模拟前列腺内采样位置的点进行测试。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Control system of a medical parallel robot for transperineal prostate biopsy

This paper presents the validation of the closed loop control system of a parallel robot designed to perform transperineal biopsy of the prostate. The robotic structure is presented along with its kinematic parameters implemented into the control module and validated using a virtual modelling environment. The experimental model is tested using a previously defined motion pattern for the medical procedure and a series of points that simulate the sampling locations inside the prostate.

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来源期刊

2017 21st International Conference on System Theory, Control and Computing (ICSTCC)

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