Article: Tele-operation and simulation for a new surgical robot design
| Title | Tele-operation and simulation for a new surgical robot design |
|---|---|
| Authors | Ye, R1 Wang, S1 Chen, Y1 |
| Keywords | Kinematics Robot Simulation Tele-Operation Virtual Reality |
| Issue Date | 2011 |
| Publisher | C A D Solutions. The Journal's web site is located at http://www.cadanda.com |
| Citation | Computer-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 |
| Abstract | Femur 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. |
| ISSN | 1686-4360 2011 SCImago Journal Rankings: 0.033 |
| DOI | http://dx.doi.org/10.3722/cadaps.2011.325-334 |
| References | References in Scopus |
| dc.contributor.author | Ye, R |
|---|---|
| dc.contributor.author | Wang, S |
| dc.contributor.author | Chen, Y |
| dc.date.accessioned | 2012-08-08T08:45:29Z |
| dc.date.available | 2012-08-08T08:45:29Z |
| dc.date.issued | 2011 |
| dc.description.abstract | Femur 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.nature | Link_to_subscribed_fulltext |
| dc.identifier.citation | Computer-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.doi | http://dx.doi.org/10.3722/cadaps.2011.325-334 |
| dc.identifier.epage | 334 |
| dc.identifier.issn | 1686-4360 2011 SCImago Journal Rankings: 0.033 |
| dc.identifier.issue | 3 |
| dc.identifier.scopus | eid_2-s2.0-79960980711 |
| dc.identifier.spage | 325 |
| dc.identifier.uri | http://hdl.handle.net/10722/157137 |
| dc.identifier.volume | 8 |
| dc.language | eng |
| dc.publisher | C A D Solutions. The Journal's web site is located at http://www.cadanda.com |
| dc.publisher.place | United States |
| dc.relation.ispartof | Computer-Aided Design and Applications |
| dc.relation.references | References in Scopus |
| dc.subject | Kinematics |
| dc.subject | Robot Simulation |
| dc.subject | Tele-Operation |
| dc.subject | Virtual Reality |
| dc.title | Tele-operation and simulation for a new surgical robot design |
| dc.type | Article |
Author Affiliations
- The University of Hong Kong