DocumentCode :
572472
Title :
A model of collision-detection for maxillofacial multi-arm surgery robot
Author :
Zhu, Xiang-yu ; Duan, Xing-guang ; Chen, Chao ; Liu, Tian-bo ; Guo, Qing-bo
Author_Institution :
State Key Lab. of Intell. Control & Decision of Complex Syst., Beijing Inst. of Technol., Beijing, China
fYear :
2012
fDate :
15-17 Aug. 2012
Firstpage :
539
Lastpage :
544
Abstract :
A maxillofacial Multi-arm surgery robot is employed to assisting maxillofacial surgery, which can improve surgical precision and reduce surgeons´ strain. Thus, the safety during the processing of the surgery is necessary for protecting the patient and preventing the quality of the surgery.This paper presents the development of a collision and self-collision-detection scheme, for Maxillofacial Multi-arm Surgery Robot. The method is based on modeling the arm of Multi-arm robot and the obstacle in surgery environment by simple geometric primitives (cylinders and spheres). Methods of detecting collision about the cylinders and the spheres are introduced. By resorting to the pose of cylinder or sphere which presents in the workspace, many different types of collisions are introduced. The performance of the collision-avoidance scheme is demonstrated with Multi -arm robot via experiments.
Keywords :
collision avoidance; dexterous manipulators; end effectors; geometry; manipulator kinematics; medical robotics; mobile robots; surgery; collision-avoidance scheme performance; cylinder pose resorting; end effectors; geometric primitives; manipulator kinematics; maxillofacial multiarm surgery robot; patient protection; self-collision detection scheme; sphere pose resorting; surgeon strain reduction; surgery quality prevention; surgical precision improvement; Collision avoidance; Equations; Joints; Kinematics; Mathematical model; Robots; Surgery; Collision Avoidance; Collision Detection; Geometric Primitives; Multi-arm robot;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Automation and Logistics (ICAL), 2012 IEEE International Conference on
Conference_Location :
Zhengzhou
ISSN :
2161-8151
Print_ISBN :
978-1-4673-0362-0
Electronic_ISBN :
2161-8151
Type :
conf
DOI :
10.1109/ICAL.2012.6308136
Filename :
6308136
Link To Document :
بازگشت