Castillo Cruces, Raúl Armando: Concept and design of a cooperative robotic assistant surgery systemKonzept und Design eines kooperativen chirugischen Roboter Assistenz Systems. 2008
Inhalt
- ACKNOWLEDGEMENT
- CONTENTS
- LIST OF TABLES
- LIST OF FIGURES
- ABBREVIATIONS
- NOMENCLATURES
- ABSTRACT
- 1. Introduction
- 2. Motivation to design a cooperative robotic assistant surgery system
- 3. State of the art
- 4. Design of a controller framework
- 4.1 System architecture
- 4.2 Command interface
- 4.3 Target computer
- 4.4 Hardware interface selector
- 4.5 Target functions
- 4.6 Host computer
- 4.7 Modular distribution
- 4.8 Execution and task modules
- 5. Human-robot cooperation
- 5.1 Hands-on interface
- 5.2 Virtual fixtures description
- 5.3 Admittance controller
- 5.4 Deviation error
- 5.5 Boundary conditions
- 5.6 Manual error compensation
- 5.7 Autonomous error compensation
- 5.8 Virtual fixtures classes
- 5.9 Experimental evaluation
- 5.10 Discussion
- 6. Singularity robustness
- 6.1 PA10 kinematics
- 6.2 Differential kinematics inversion
- 6.3 Damped least squares approach
- 6.4 Adjoint Jacobian approach
- 6.5 Experimental results
- 6.6 Discussion
- 7. Conclusions
- References
- A Quaternion
- B Spline functions
- C Quadratic minimization of a cubic spline function
- D Singular value decomposition