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	Spinal physiological motion simulator and compensation method for a robotic spinal surgical system
	Li, Bing; Jin, Haiyang; Fang, Min; Hu, Ying; Zhang, Peng
	2014
会议名称	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
会议地点	印度尼西亚
英文摘要	During spinal surgery, spinal physiological motion (SPM) due to respiration can interfere with the operation. The patient is anesthetized and breathes passively with the aid of a respirator, causing periodic SPM. In this paper, a respiratory model based on the respirator flow waves is proposed; and a spinal physiological motion simulator (SPMS), which is based on a 3-RPS parallel mechanism, is developed for simulating the SPM due to the respiratory model. For compensating the SPM, a compensation algorithm based on weighted frequency linear combiner (WFLC), which can adapt to variation in the frequency and amplitude of a quasi-periodic signal, is used for a robotic surgical system in this paper. And finally, two experiments were carried out, one is to analyze the SPMS error and the other is to validate SPM compensation using the compensation algorithm.
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/172644/5603]
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	Li, Bing,Jin, Haiyang,Fang, Min,et al. Spinal physiological motion simulator and compensation method for a robotic spinal surgical system[C]. 见:2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. 印度尼西亚.

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