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Article: Tele-operation and simulation for a new surgical robot design

TitleTele-operation and simulation for a new surgical robot design
Authors
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
Citation
Computer-Aided Design And Applications, 2011, v. 8 n. 3, p. 325-334 How to Cite?
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.
Persistent Identifierhttp://hdl.handle.net/10722/157137
ISSN
2013 SCImago Journal Rankings: 0.410
References

 

DC FieldValueLanguage
dc.contributor.authorYe, Ren_US
dc.contributor.authorWang, Sen_US
dc.contributor.authorChen, Yen_US
dc.date.accessioned2012-08-08T08:45:29Z-
dc.date.available2012-08-08T08:45:29Z-
dc.date.issued2011en_US
dc.identifier.citationComputer-Aided Design And Applications, 2011, v. 8 n. 3, p. 325-334en_US
dc.identifier.issn1686-4360en_US
dc.identifier.urihttp://hdl.handle.net/10722/157137-
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.en_US
dc.languageengen_US
dc.publisherC A D Solutions. The Journal's web site is located at http://www.cadanda.comen_US
dc.relation.ispartofComputer-Aided Design and Applicationsen_US
dc.subjectKinematicsen_US
dc.subjectRobot Simulationen_US
dc.subjectTele-Operationen_US
dc.subjectVirtual Realityen_US
dc.titleTele-operation and simulation for a new surgical robot designen_US
dc.typeArticleen_US
dc.identifier.emailChen, Y:yhchen@hkucc.hku.hken_US
dc.identifier.authorityChen, Y=rp00099en_US
dc.description.naturelink_to_subscribed_fulltexten_US
dc.identifier.doi10.3722/cadaps.2011.325-334en_US
dc.identifier.scopuseid_2-s2.0-79960980711en_US
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-79960980711&selection=ref&src=s&origin=recordpageen_US
dc.identifier.volume8en_US
dc.identifier.issue3en_US
dc.identifier.spage325en_US
dc.identifier.epage334en_US
dc.publisher.placeUnited Statesen_US
dc.identifier.scopusauthoridYe, R=34882442200en_US
dc.identifier.scopusauthoridWang, S=35093369400en_US
dc.identifier.scopusauthoridChen, Y=7601430448en_US

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