頁籤選單縮合
題名 | Physician-Commanded Six-DOF Robotic Manipulation for Target Localization in Conformal Radiotherapy= |
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作者 | Chang, Wen-chung; Chen, Chin-sheng; Liu, Chia-yuan; Chen, Yu-jen; |
期刊 | Asian Journal of Control |
出版日期 | 20140500 |
卷期 | 16:3 2014.05[民103.05] |
頁次 | 頁795-801 |
分類號 | 410.01344、410.01344 |
語文 | eng |
關鍵詞 | Abdominal phantom; Conformal radiotherapy; Hybrid control; Manipulator; Ultrasound probe; Visual servo; |
英文摘要 | To effectively improve treatment precision in conformal radiotherapy, ultrasound sensing is employed to detect tumors in real time. In order to implement this new configuration, the physician operating the ultrasound probe must not stay in the radiotherapy room. This motivates the development of a physician-commanded robotic manipulation system for target localization in conformal radiotherapy. The proposed robotic control system is in eye-to-hand configuration with binocular vision and force sensing. The ultrasound probe mounted on the end-effector of the manipulator is controlled to follow the pose commanded by the physician. Based on the measurements from a six-axis force sensor, the probe can be controlled further to maintain the desired contact force against the possibly-deforming treatment surface. The proposed hybrid force and vision-based control approach has been validated by experimenting with a six-degrees-of-freedom industrial manipulator to allow clear ultrasound images. |
本系統之摘要資訊系依該期刊論文摘要之資訊為主。