| Literature DB >> 25571490 |
Farshid Alambeigi, Ryan J Murphy, Ehsan Basafa, Russell H Taylor, Mehran Armand.
Abstract
The paper addresses the coupled motion of a 6 degree of freedom robot and a snake-like dexterous manipulator (SDM) designed for the treatment of bone defects behind the implant during total hip arthroplasty revision surgery. We have formulated the problem as a weighted, multi-objective constraint, linear optimization. A remote center of motion (RCM) acts as a virtual constraint for the robot. The coupled robot kinematics does not assume piecewise-constant curvature for the SDM. We have evaluated our method by simulating the coupled system inside a potential lesion area.Entities:
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Year: 2014 PMID： 25571490 PMCID： PMC4479257 DOI： 10.1109/EMBC.2014.6945122
Source DB: PubMed Journal: Conf Proc IEEE Eng Med Biol Soc ISSN： 1557-170X