https://scholars.lib.ntu.edu.tw/handle/123456789/611438
標題: | A robotic system for telementoring and training in laparoscopic surgery | 作者: | Prince S.W. Kang C. Simonelli J. Lee Y.-H. Gerber M.J. Lim C. Chu K. Dutson E.P. Tsao T.-C. YU-HSIU LEE |
關鍵字: | Actuators;Hydraulics;Hydrostatic pressure;Iterative methods;Learning algorithms;Robotics;Hydrostatic transmission;Intervention studies;Iterative learning control;Learning control;Magnetic resonance images (MRI);Mri guided;Real-time feedback;Research platforms;Magnetic resonance imaging | 公開日期: | 2020 | 卷: | 16 | 期: | 2 | 來源出版物: | International Journal of Medical Robotics and Computer Assisted Surgery | 摘要: | This article presents a novel design and experiment of a system of hydrostatic actuation, transmission network, and control as a research platform for investigating magnetic resonance image (MRI) based tracking and intervention of a moving target. Based on novel double-acting piston-cylinder type rolling diaphragm fluid actuators, the system comprises two remotely controlled modules, an instrument manipulation module and a target motion module. The instrument manipulation module controls an instrument to access a target and it features a fluid network of multiple actuators and several modes of the instrument intervention of a stationary or moving target. The target motion module generates emulated target motions, such as breathing profiles, in the interventions. It also serves as truth motion for developing and testing MRI scanning and tracking algorithms. An iterative learning control is employed to create precise target motion profiles without needing real-time feedback from an MR-safe/conditional sensor. Integrating the two modules, the system enables closed-loop actuated intervention study with real-time MRI. ? 1996-2012 IEEE. |
URI: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-85076771766&doi=10.1109%2fTMECH.2019.2959805&partnerID=40&md5=8f2d58cc8525fd47603f11795e94f7cc https://scholars.lib.ntu.edu.tw/handle/123456789/611438 |
DOI: | 10.1002/rcs.2040 |
顯示於: | 機械工程學系 |
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