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Article: Tele-operation and simulation for a new surgical robot design
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TitleTele-operation and simulation for a new surgical robot design
 
AuthorsYe, R1
Wang, S1
Chen, Y1
 
KeywordsKinematics
Robot Simulation
Tele-Operation
Virtual Reality
 
Issue Date2011
 
PublisherC A D Solutions. The Journal's web site is located at http://www.cadanda.com
 
CitationComputer-Aided Design And Applications, 2011, v. 8 n. 3, p. 325-334 [How to Cite?]
DOI: http://dx.doi.org/10.3722/cadaps.2011.325-334
 
AbstractFemur fracture is a frequently occurred injury and usually treated by surgeries. However, the treatment of femur fracture exhibits many problems such as excessive radiation exposure to both surgeons and patients and mal-alignment in reduction. In order to overcome these problems, robot-assisted reduction surgery has been researched in recent years. One hybrid robot is introduced in this paper for femur fracture reduction. In order to train the surgeon for pre-operative planning or for intra-operative manipulation, we developed a tele-operation and simulation system for the newly developed hybrid robot. In this system, we construct the virtual hybrid robot by V-Realm Builder 2.0 based on VRML language, use MATLAB Simulink and the virtual reality toolbox to build the simulation model, and tele-operation of the virtual hybrid robot is implemented using the Phantom haptic interface. The virtual system presented in this paper creates a realistic environment for demonstration and provides facilities for good quality rendering. The tele-operation system shows that it is convenient and powerful in defining a 3D path. The approach utilized in this paper can also be used to study other types of robot. © 2011 CAD Solutions, LLC.
 
ISSN1686-4360
2013 SCImago Journal Rankings: 0.410
 
DOIhttp://dx.doi.org/10.3722/cadaps.2011.325-334
 
ReferencesReferences in Scopus
 
DC FieldValue
dc.contributor.authorYe, R
 
dc.contributor.authorWang, S
 
dc.contributor.authorChen, Y
 
dc.date.accessioned2012-08-08T08:45:29Z
 
dc.date.available2012-08-08T08:45:29Z
 
dc.date.issued2011
 
dc.description.abstractFemur fracture is a frequently occurred injury and usually treated by surgeries. However, the treatment of femur fracture exhibits many problems such as excessive radiation exposure to both surgeons and patients and mal-alignment in reduction. In order to overcome these problems, robot-assisted reduction surgery has been researched in recent years. One hybrid robot is introduced in this paper for femur fracture reduction. In order to train the surgeon for pre-operative planning or for intra-operative manipulation, we developed a tele-operation and simulation system for the newly developed hybrid robot. In this system, we construct the virtual hybrid robot by V-Realm Builder 2.0 based on VRML language, use MATLAB Simulink and the virtual reality toolbox to build the simulation model, and tele-operation of the virtual hybrid robot is implemented using the Phantom haptic interface. The virtual system presented in this paper creates a realistic environment for demonstration and provides facilities for good quality rendering. The tele-operation system shows that it is convenient and powerful in defining a 3D path. The approach utilized in this paper can also be used to study other types of robot. © 2011 CAD Solutions, LLC.
 
dc.description.natureLink_to_subscribed_fulltext
 
dc.identifier.citationComputer-Aided Design And Applications, 2011, v. 8 n. 3, p. 325-334 [How to Cite?]
DOI: http://dx.doi.org/10.3722/cadaps.2011.325-334
 
dc.identifier.doihttp://dx.doi.org/10.3722/cadaps.2011.325-334
 
dc.identifier.epage334
 
dc.identifier.issn1686-4360
2013 SCImago Journal Rankings: 0.410
 
dc.identifier.issue3
 
dc.identifier.scopuseid_2-s2.0-79960980711
 
dc.identifier.spage325
 
dc.identifier.urihttp://hdl.handle.net/10722/157137
 
dc.identifier.volume8
 
dc.languageeng
 
dc.publisherC A D Solutions. The Journal's web site is located at http://www.cadanda.com
 
dc.publisher.placeUnited States
 
dc.relation.ispartofComputer-Aided Design and Applications
 
dc.relation.referencesReferences in Scopus
 
dc.subjectKinematics
 
dc.subjectRobot Simulation
 
dc.subjectTele-Operation
 
dc.subjectVirtual Reality
 
dc.titleTele-operation and simulation for a new surgical robot design
 
dc.typeArticle
 
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Author Affiliations
  1. The University of Hong Kong