TY - GEN
T1 - Coordinated control of a novel multi-arm robot for maxillofacial surgery
AU - Duan, Xingguang
AU - Li, Meng
AU - Kong, Xiangzhan
AU - Wang, Yonggui
AU - Li, Chang
PY - 2013
Y1 - 2013
N2 - The anatomical structure of maxillofacial region is complex, and surgery in this area needs to be of high accuracy and stability. Therefore a novel multi-arm robot was developed to assist such surgery, especially the jaw bone reconstruction surgery. However, operation space was limited and arms of the robot may interfere with each other. Thus, coordinated control for the robot is necessary. In this paper, overview of the whole robot system was introduced. Then, as the main point, kinematics analysis and coordinated control were carried out. Finally, simulation experiments verified the feasibility of the control method.
AB - The anatomical structure of maxillofacial region is complex, and surgery in this area needs to be of high accuracy and stability. Therefore a novel multi-arm robot was developed to assist such surgery, especially the jaw bone reconstruction surgery. However, operation space was limited and arms of the robot may interfere with each other. Thus, coordinated control for the robot is necessary. In this paper, overview of the whole robot system was introduced. Then, as the main point, kinematics analysis and coordinated control were carried out. Finally, simulation experiments verified the feasibility of the control method.
KW - Coordinated Control
KW - Kinematics
KW - Maxillofacial Surgery
KW - Multi-arm robot
UR - https://www.scopus.com/pages/publications/84881529190
U2 - 10.1109/ICCME.2013.6548263
DO - 10.1109/ICCME.2013.6548263
M3 - Conference contribution
AN - SCOPUS:84881529190
SN - 9781467329699
T3 - 2013 ICME International Conference on Complex Medical Engineering, CME 2013
SP - 323
EP - 328
BT - 2013 ICME International Conference on Complex Medical Engineering, CME 2013
T2 - 2013 7th ICME International Conference on Complex Medical Engineering, CME 2013
Y2 - 25 May 2013 through 28 May 2013
ER -