经皮肿瘤治疗中机器人辅助器械的控制系统研究

2022 26th International Conference on System Theory, Control and Computing (ICSTCC) Pub Date : 2022-10-19 DOI:10.1109/ICSTCC55426.2022.9931813

Alin Burz, N. Hajjar, P. Tucan, C. Radu, A. Pîslă, F. Graur, C. Vaida, C. Popa, T. Antal, D. Pisla

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引用次数: 1

摘要

本文介绍了两种用于经皮肿瘤治疗的医疗器械的控制系统。一台用于射频消融，另一台用于近距离治疗。这些仪器可以连接到各种能够提供5个自由度的机器人上。两种机器人解决方案用于举例说明这种能力，即库卡iiwa机器人和PARA-BRACHYROB。所开发的控制系统能够使用MATLAB环境和不同的通信协议与两个机器人进行通信，建立机器人控制单元之间的连接。

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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On the control system for the robotic assisted instruments used in percutaneous cancer treatment

The paper presents the control system of two medical instruments used in percutaneous cancer treatment. One instrument is designed for radiofrequency ablation and the other one for brachytherapy. The instruments may be attached to various robots capable of providing 5 Degrees of Freedom. Two robotic solutions are used for exemplifying this capability, namely the Kuka iiwa robot and the PARA-BRACHYROB. The developed control system is capable to communicate with both robots using MATLAB environment and different communication protocols to establish the connections between the robot control units.

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来源期刊

2022 26th International Conference on System Theory, Control and Computing (ICSTCC)

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