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	A combined approach for master-slave robotic surgery system control based on Jacobian and PD algorithm
	Zhonglin Zhang; Jing Xiong; Yangzhou Gan; Dongwen Zhang; Zeyang Xia
	2014
会议名称	2014 4th IEEE International Conference on Information Science and Technology, ICIST 2014
会议地点	Shenzhen, China
英文摘要	In this paper, a semi-physical simulation platform of robot teleoperation system is designed, and a combined control approach using Jacobian matrix and Proportional-Derivative (PD) algorithm is proposed. A digital low-pass filter is designed to eliminate noise signal caused by hand-vibration of surgeons. The advantages of the proposed approach include easy implementation, real-time response and accurate master-slave tracking. The results of semi-physical simulation validated that the proposed approach realized accurate master-slave tracking for puncture surgery and the noise caused by hand-vibration was eliminated effectively.
收录类别	EI
语种	英语
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/5615]
专题	深圳先进技术研究院_集成所
作者单位	2014
推荐引用方式 GB/T 7714	Zhonglin Zhang,Jing Xiong,Yangzhou Gan,et al. A combined approach for master-slave robotic surgery system control based on Jacobian and PD algorithm[C]. 见:2014 4th IEEE International Conference on Information Science and Technology, ICIST 2014. Shenzhen, China.

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