Realization and Control of Robotic Injection Prototype with Instantaneous Remote Center of Motion Mechanism.

Lin Liu,Wei Chen,Zhi Chen,Weiguo Zhou,Ruofeng Wei,Yunhui Liu

IEEE transactions on bio-medical engineering（2023）

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摘要

This paper provides alternative schemes for developing an instantaneous RCM system, screw drive-based surgical tool, and robotic insertion with small needles.

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关键词

Impedance control,linear parameter-varying (LPV) system,remote center of motion (RCM) mechanism,Robotic needle insertion

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