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:: Volume 1, Issue 9 (9-2018) ::
عصر برق 2018, 1(9): 29-36 Back to browse issues page
Application of Observers in Medical Robotics
Bita Fallahi , Mahdi Tavakkoli afshari
Abstract:   (358 Views)
This paper presents the applications of observersin robot-assisted medical procedures, in whichrobotic manipulators act in collaboration with surgeonsor therapists to improve the efficiency and accuracy ofthe interventions. Observers can be considered as replacementsfor sensors to provide the surgeon and/or therobots with information about the tissue, surgical tools,and their interaction. This paper provides an overviewof the observation methods for estimating the tool pose,tissue motion, and the interaction forces. Having a goodmodel for the system and guaranteeing the safety andefficiency of the methods are the challenges involved inusing the observers in medical procedures. However, theapplication-driven nature of the medical robotics providesa thriving field of study for using the observers
Keywords: Robot-assisted, Estimation, Observer
Full-Text [PDF 4585 kb]   (130 Downloads)    
Type of Study: Scientific-extension | Subject: Special
Received: 2018/04/21 | Accepted: 2018/06/22 | Published: 2018/09/23
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fallahi B, tavakkoli afshari M. Application of Observers in Medical Robotics. عصر برق. 2018; 1 (9) :29-36
URL: http://kiaeee.ir/article-1-139-en.html


Volume 1, Issue 9 (9-2018) Back to browse issues page
نشریه عصر برق - انجمن مهندسین برق و الکترونیک ایران - شاخه خراسان Khorasan Iranian Association of Electrical and Electronics Engineers (kiaeee)
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