@inproceedings{1cb827c0f3324703b609ff1b4b98cf13,
title = "A workflow for robot assisted neurosurgery",
abstract = "This paper introduces a workflow for robot assisted neurosurgery. The system consists of a robot for precise positioning and a vision system for intro-operative registration. The vision system uses two cameras and templates to automatically track dynamic targets. In order to accurately position the end of the robot during operation, the robot arm must occupy the least space, be easy to move and be well balanced. Cylindrical configuration is chosen in this case as a suitable type of arm. Based on the Jocobian matrix of robot and the conditioning number of the matrix, the optimal dexterous region of the robot is found to satisfy desired dexterity. The successful clinical application verifies the effectiveness of the robot system.",
keywords = "Dexterity, Registration, Robot assisted neurosurgery, Robot configuration",
author = "Da Liu and Tianmiao Wang",
year = "2006",
doi = "10.1109/IROS.2006.282075",
language = "英语",
isbn = "142440259X",
series = "IEEE International Conference on Intelligent Robots and Systems",
pages = "2870--2875",
booktitle = "2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006",
note = "2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 ; Conference date: 09-10-2006 Through 15-10-2006",
}