Paper Info
Title
Control of the coupled motion of a 6 DoF robotic arm and a continuum manipulator for the treatment of pelvis osteolysis.
Abstract
The paper addresses the coupled motion of a 6 degree of freedom robot and a snake-like dexterous manipulator (SDM) designed for the treatment of bone defects behind the implant during total hip arthroplasty revision surgery. We have formulated the problem as a weighted, multi-objective constraint, linear optimization. A remote center of motion (RCM) acts as a virtual constraint for the robot. The coupled robot kinematics does not assume piecewise-constant curvature for the SDM. We have evaluated our method by simulating the coupled system inside a potential lesion area.
Year
DOI
Venue
2014
10.1109/EMBC.2014.6945122
EMBC
Keywords
Field
DocType
medical robotics,optimisation,motion control,diseases,bone defect treatment,dexterous manipulators,prosthetics,bone,total hip arthroplasty revision surgery,remote center-of-motion,snake-like dexterous manipulator,coupled motion control,virtual constraint,degree-of-freedom robot,manipulator kinematics,implant,multiobjective constraint linear optimization,coupled robot kinematics,continuum manipulator,surgery,pelvis osteolysis treatment,potential lesion area,6-dof robotic arm,weighted linear optimization
Robotic arm,Degrees of freedom (statistics),Curvature,Computer science,Simulation,Robot kinematics,Robotic Surgical Procedures,Linear programming,Robot,Pelvis
Conference
Volume
ISSN
Citations 
2014
1557-170X
5
PageRank 
References 
Authors
0.53
9
5
Name
Order
Citations
PageRank
Farshid Alambeigi1327.46
Ryan Murphy2102.49
Ehsan Basafa3142.20
Russell H. Taylor41970438.00
M Armand516927.17