用于主动手持机器人系统的电磁跟踪器。

Proceedings of IEEE Sensors. IEEE International Conference on Sensors Pub Date : 2016-10-01 Epub Date: 2017-01-09 DOI:10.1109/ICSENS.2016.7808415

Robert A MacLachlan, Nicholas Parody, Shohin Mukherjee, Ralph Hollis, Cameron N Riviere

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引用次数: 6

摘要

我们描述了环内电磁跟踪器(ILEMT)的发展，旨在满足精密操作(如显微外科手术)中手部运动主动稳定的苛刻延迟和分辨率要求。该原型在根带宽/分辨率上超过最快的商用EM跟踪器4倍，延迟时间超过2倍。使用两个间隔很宽的载波频率(例如，300赫兹和10千赫)能够以一种特别简单的方式减少工作空间中有色金属引起的涡流干扰。以前，金属相容性只有在测量速度的巨大成本下才能实现。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

Electromagnetic Tracker for Active Handheld Robotic Systems.

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Electromagnetic Tracker for Active Handheld Robotic Systems.

This paper describes recent work in the development of the In-Loop Electromagnetic Tracker (ILEMT), designed to meet the demanding latency and resolution requirements for active stabilization of hand motion during precision manipulations such as microsurgery. The prototype surpasses the fastest commercial EM trackers by > 4x in root bandwidth/resolution and 2x in latency. The use of two widely spaced carrier frequencies (e.g., 300 Hz and 10 kHz) enables a particularly simple way of reducing the eddy-current interference caused by nonferrous metals present in the workspace. Previously, metal compatibility has only been achieved at a large cost to measurement speed.

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来源期刊

Proceedings of IEEE Sensors. IEEE International Conference on Sensors

CiteScore

1.30

自引率

0.00%

发文量